version: 66.02
glider: 107
mission: 8
dive: 16
start: 9 21 107 13 13 51
data:
$ID,107
$MISSION,8
$DIVE,16
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51588
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13263.272
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,363
$PITCH_MAX,3698
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,3928
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,679
$VBD_MAX,4028
$C_VBD,3415
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.282682
$PRESSURE_SLOPE,0.0001156423
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004345139
$SEABIRD_T_H,0.00064258272
$SEABIRD_T_I,2.3711646e-05
$SEABIRD_T_J,2.2769887e-06
$SEABIRD_C_G,-10.006271
$SEABIRD_C_H,1.1385506
$SEABIRD_C_I,-0.0022333476
$SEABIRD_C_J,0.00024018179
$GPS1,130735,4738.478,-12252.475,12,2.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.1
$GPS2,131247,4738.470,-12252.435,13,2.3,32,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.110,0.093
$KALMAN_X,1403.2,96.3,63.8,-1014.2,120.3
$KALMAN_Y,1859.9,157.3,20.3,-3629.1,48.9
$MHEAD_RNG_PITCHd_Wd,291.8,123,-27.6,-8.333
$D_GRID,131
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.18,-48.1,0.0,0.0,0,75,0.00,0.00,-49.58,0.000,2,0.000,0.000,361,1995,2788
$GC,78,-2.23,-87.1,2.0,-3.8,8,139,10.48,0.00,-45.42,0.000,6,0.159,0.000,2240,1995,3772
$GC,204,-2.23,-87.1,12.0,-13.5,28,211,0.00,2.65,0.00,0.000,4,0.000,0.071,2240,599,3772
$GC,223,-2.23,-87.1,14.2,-11.1,31,230,0.00,2.47,0.00,0.000,6,0.000,0.036,2240,2001,3772
$GC,294,-2.23,-87.1,21.9,-10.1,41,298,0.00,2.53,0.00,0.000,4,0.000,0.058,2239,3397,3772
$GC,360,-2.23,-87.1,29.5,-11.6,46,364,0.00,2.45,0.00,0.000,6,0.000,0.040,2240,2002,3772
$GC,562,-2.23,-87.1,52.9,-11.9,62,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2002,3773
$GC,753,-2.23,-87.1,75.7,-12.6,77,757,0.00,2.58,0.00,0.000,4,0.000,0.061,2240,3404,3773
$GC,856,-2.23,-87.1,88.7,-11.7,84,864,0.00,2.50,0.00,0.000,6,0.000,0.042,2240,2009,3772
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,968,-0.38,0.0,100.7,11.7,93,1040,2.05,0.00,66.75,0.569,6,0.114,0.000,2641,2418,3414
$STATE,1041,end apogee,CONTROL_FINISHED_OK
$STATE,1041,begin climb
$GC,1043,2.23,87.1,103.7,0.0,99,1117,2.78,2.70,64.70,0.563,4,0.076,0.066,3218,1004,3058
$GC,1161,2.24,96.1,98.2,7.3,108,1174,0.00,2.62,6.57,0.578,6,0.000,0.040,3217,2412,3022
$GC,1370,2.24,96.1,80.0,9.1,125,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2412,3021
$GC,1561,2.24,96.1,62.7,9.1,140,1565,0.00,2.60,0.00,0.000,4,0.000,0.064,3218,1006,3021
$GC,1651,2.24,96.1,53.8,9.8,146,1659,0.00,2.53,0.00,0.000,6,0.000,0.040,3217,2416,3021
$GC,1847,2.24,96.1,36.9,8.4,162,1851,0.00,2.58,0.00,0.000,4,0.000,0.064,3217,1011,3021
$GC,1985,2.25,101.1,25.3,7.8,172,1993,0.00,2.50,3.42,0.574,6,0.000,0.039,3217,2419,3001
$GC,2187,2.26,112.0,9.1,7.1,198,2200,0.00,2.65,7.72,0.542,4,0.000,0.074,3217,3816,2956
$GC,2267,2.32,156.3,5.8,3.2,210,2304,0.00,2.45,32.45,0.519,6,0.000,0.035,3217,2410,2777
$GC,2370,2.38,205.0,3.3,2.7,226,2408,0.12,2.62,29.48,0.513,4,0.081,0.067,3245,1015,2578
$STATE,2412,end climb,SURFACE_DEPTH_REACHED
$STATE,2412,begin surface coast
$FINISH,0.3,1.020538
$STATE,2472,end surface coast,CONTROL_FINISHED_OK
$STATE,2472,begin surface
$SM_CCo,2499,98.97,0.500,0,0,1783,400.08
$SM_GC,0.97,0.00,0.00,98.97,0.000,0.000,0.500,361,2016,1783,-10.90,0.48,400.08
$IRIDIUM_FIX,4719.74,-12254.47,210907,161647
$TT8_MAMPS,0.074399
$HUMID,2105
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,75.7,63.7
$24V_AH,23.8,16.604
$10V_AH,9.3,10.930
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.400,40.925,211.100,98.975,0.000,32.784,57.519,109.639,0.750,70.550,2974.450,33.843,449.196,1309.193,414.253,470.596,293.360,33.332,694.482,0.000,432.554,0.000,5.044
$DEVICE_MAMPS,158.769,74.399,578.318,500.084,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.431,0.000,0.000,0.000,0.000,0.000,0.000,3045.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6443,242
$CFSIZE,260034560,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,135814,4738.670,-12252.573,14,1.3,31,18.3