version: 66.02
glider: 107
mission: 8
dive: 18
start: 9 21 107 14 58 3
data:
$ID,107
$MISSION,8
$DIVE,18
$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,-13292.662
$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,26
$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
$GPS1,144935,4738.522,-12252.594,14,3.6,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.9
$GPS2,145657,4738.520,-12252.572,14,1.7,14,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.143,-0.017
$KALMAN_X,1335.3,80.7,145.6,-1181.4,-34.5
$KALMAN_Y,2070.7,128.9,22.7,-3720.3,51.3
$MHEAD_RNG_PITCHd_Wd,78.5,214,-27.6,-8.333
$D_GRID,137
$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,-55.47,0.000,2,0.000,0.000,360,1993,2914
$GC,84,-2.23,-82.2,2.2,-4.4,9,139,10.62,2.65,-34.78,0.000,4,0.158,0.083,2238,599,3751
$GC,388,-2.23,-82.2,34.0,-11.3,47,396,0.00,2.47,0.00,0.000,6,0.000,0.037,2239,2001,3752
$GC,585,-2.23,-82.2,56.1,-11.9,63,589,0.00,2.67,0.00,0.000,4,0.000,0.073,2238,599,3753
$GC,643,-2.23,-82.2,63.0,-12.3,67,651,0.00,2.47,0.00,0.000,6,0.000,0.038,2238,2001,3753
$GC,839,-2.23,-82.2,86.0,-11.6,83,843,0.00,2.58,0.00,0.000,4,0.000,0.063,2239,3400,3753
$GC,931,-2.23,-82.2,97.3,-13.2,90,936,0.00,2.58,0.00,0.000,6,0.000,0.043,2239,2002,3753
$STATE,955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,955,begin apogee
$GC,961,-0.38,0.0,100.4,11.8,92,1030,2.08,0.00,63.03,0.571,6,0.113,0.000,2645,2414,3414
$STATE,1031,end apogee,CONTROL_FINISHED_OK
$STATE,1031,begin climb
$GC,1033,2.23,82.2,102.7,0.0,98,1100,2.65,0.00,61.30,0.565,6,0.075,0.000,3214,2414,3079
$GC,1283,2.24,91.7,87.7,7.2,118,1296,0.00,2.72,6.70,0.578,4,0.000,0.066,3214,1013,3040
$GC,1368,2.24,92.8,81.1,8.2,124,1375,0.00,2.53,0.00,0.000,6,0.000,0.041,3214,2426,3040
$GC,1563,2.24,92.8,64.3,8.5,140,1568,0.00,2.62,0.00,0.000,4,0.000,0.064,3214,1006,3040
$GC,1608,2.24,92.8,60.4,8.5,143,1616,0.00,2.53,0.00,0.000,6,0.000,0.040,3214,2420,3040
$GC,1805,2.24,92.8,43.9,9.1,159,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2420,3040
$GC,1997,2.25,98.6,29.1,7.7,174,2009,0.00,2.62,4.90,0.568,4,0.000,0.063,3214,1004,3011
$GC,2141,2.26,108.6,16.7,7.2,188,2155,0.00,2.47,7.07,0.549,6,0.000,0.039,3214,2421,2971
$GC,2221,2.26,113.1,10.2,7.8,200,2228,0.00,0.00,2.75,0.573,6,0.000,0.000,3214,2423,2954
$GC,2294,2.32,154.6,5.9,3.5,211,2332,0.00,2.67,30.70,0.515,4,0.000,0.074,3214,3819,2782
$GC,2504,2.38,208.6,3.0,2.1,243,2541,0.15,2.45,29.48,0.512,6,0.078,0.035,3248,2409,2563
$STATE,2545,end climb,SURFACE_DEPTH_REACHED
$STATE,2545,begin surface coast
$FINISH,0.3,1.020635
$STATE,2594,end surface coast,CONTROL_FINISHED_OK
$STATE,2595,begin surface
$SM_CCo,2620,96.57,0.502,0,0,1784,400.08
$SM_GC,0.96,0.00,0.00,96.57,0.000,0.000,0.502,360,2002,1784,-10.90,0.06,400.08
$IRIDIUM_FIX,4719.74,-12254.47,210907,181816
$TT8_MAMPS,0.075166
$HUMID,2123
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,8.9
$ALTIM_BOTTOM_PING,75.8,77.1
$24V_AH,23.1,16.765
$10V_AH,9.2,11.064
$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,28.525,37.525,205.925,96.575,0.000,75.876,59.555,149.727,0.500,58.120,3246.880,14.787,473.164,1443.149,415.700,470.481,385.594,33.339,700.030,0.000,451.206,0.000,4.184
$DEVICE_MAMPS,158.002,82.836,578.318,501.618,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.644,0.000,0.000,0.000,0.000,0.000,0.000,3305.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6479,257
$CFSIZE,260034560,256212992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,154423,4738.523,-12252.338,10,3.2,29,18.3