version: 66.02
glider: 107
mission: 8
dive: 17
start: 9 21 107 14 3 57
data:
$ID,107
$MISSION,8
$DIVE,17
$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,-13277.245
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,135814,4738.670,-12252.573,14,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.6
$GPS2,140251,4738.672,-12252.547,13,1.6,13,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.050,-0.136
$KALMAN_X,1462.8,99.6,124.7,-1278.9,67.9
$KALMAN_Y,2001.2,149.4,24.8,-3394.3,52.7
$MHEAD_RNG_PITCHd_Wd,141.6,316,-27.6,-8.333
$D_GRID,134
$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,-48.1,0.0,0.0,0,81,0.00,0.00,-55.58,0.000,2,0.000,0.000,361,2017,2915
$GC,84,-2.23,-83.5,2.1,-4.2,9,139,10.43,2.55,-35.75,0.000,4,0.157,0.076,2238,3394,3757
$GC,388,-2.23,-83.5,34.1,-11.3,46,397,0.00,2.47,0.00,0.000,6,0.000,0.041,2238,2009,3758
$GC,585,-2.23,-83.5,55.8,-11.1,62,589,0.00,2.55,0.00,0.000,4,0.000,0.061,2238,3394,3759
$GC,842,-2.23,-83.5,86.7,-12.0,81,849,0.00,2.50,0.00,0.000,6,0.000,0.043,2238,2006,3758
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,966,-0.38,0.0,100.3,11.2,91,1036,2.08,0.00,63.90,0.575,6,0.117,0.000,2641,2414,3414
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1039,2.23,83.5,103.2,0.0,97,1108,2.70,0.00,62.38,0.565,6,0.077,0.000,3211,2414,3074
$GC,1297,2.23,86.6,85.8,8.0,118,1304,0.00,2.67,2.05,0.623,4,0.000,0.065,3212,1011,3060
$GC,1448,2.23,86.6,72.8,9.3,129,1453,0.00,2.50,0.00,0.000,6,0.000,0.041,3212,2429,3060
$GC,1650,2.24,96.2,56.4,7.2,145,1663,0.00,0.00,7.18,0.562,6,0.000,0.000,3211,2429,3021
$GC,1851,2.24,96.2,39.1,8.8,161,1856,0.00,2.62,0.00,0.000,4,0.000,0.062,3212,1003,3020
$GC,1909,2.24,96.2,34.1,8.8,165,1917,0.00,2.53,0.00,0.000,6,0.000,0.039,3212,2421,3020
$GC,2109,2.25,99.4,17.2,8.0,183,2116,0.00,2.65,1.98,0.600,4,0.000,0.061,3212,1010,3008
$GC,2367,2.36,188.6,7.3,-2.0,222,2442,0.15,2.47,65.22,0.512,6,0.072,0.038,3247,2432,2645
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,0.2,1.020403
$STATE,2534,end surface coast,CONTROL_FINISHED_OK
$STATE,2535,begin surface
$SM_CCo,2559,111.07,0.499,0,0,1784,400.08
$SM_GC,1.10,0.00,0.00,111.07,0.000,0.000,0.499,361,1993,1784,-10.90,-0.20,400.08
$IRIDIUM_FIX,4722.92,-12247.38,210907,171735
$TT8_MAMPS,0.075933
$HUMID,2121
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,9.1
$ALTIM_BOTTOM_PING,75.6,77.1
$24V_AH,23.7,16.683
$10V_AH,9.3,10.994
$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,28.275,27.050,202.700,111.075,0.000,41.099,34.784,108.126,0.750,58.110,3008.890,13.344,452.263,1369.358,418.179,463.502,272.990,33.334,686.138,0.000,445.414,0.000,4.173
$DEVICE_MAMPS,157.235,75.933,622.804,499.317,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.846,0.000,0.000,0.000,0.000,0.000,0.000,3067.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6470,248
$CFSIZE,260034560,256249856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,144935,4738.522,-12252.594,14,3.6,33,18.3