version: 66.02
glider: 107
mission: 8
dive: 19
start: 9 21 107 15 50 49
data:
$ID,107
$MISSION,8
$DIVE,19
$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,-13325.989
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,154423,4738.523,-12252.338,10,3.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.4
$GPS2,154944,4738.516,-12252.315,15,1.8,32,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.141,0.032
$KALMAN_X,1326.7,63.2,143.3,-836.7,-72.3
$KALMAN_Y,2112.2,114.8,30.6,-3763.0,21.8
$MHEAD_RNG_PITCHd_Wd,264.6,112,-27.6,-8.333
$D_GRID,130
$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,-55.50,0.000,2,0.000,0.000,360,2002,2907
$GC,84,-2.22,-80.5,2.1,-4.6,9,139,10.55,2.58,-35.15,0.000,4,0.161,0.069,2242,3403,3745
$GC,159,-2.22,-80.5,7.3,-13.5,21,165,0.00,2.47,0.00,0.000,6,0.000,0.040,2242,1996,3746
$GC,230,-2.22,-80.5,15.5,-10.5,32,237,0.00,2.58,0.00,0.000,4,0.000,0.058,2242,3411,3746
$GC,322,-2.22,-80.5,24.7,-9.7,43,326,0.00,2.50,0.00,0.000,6,0.000,0.041,2242,2003,3745
$GC,524,-2.22,-80.5,46.4,-10.5,59,528,0.00,2.55,0.00,0.000,4,0.000,0.058,2242,3407,3747
$GC,576,-2.22,-80.5,52.5,-12.0,63,580,0.00,2.47,0.00,0.000,6,0.000,0.041,2242,1999,3747
$GC,779,-2.22,-80.5,75.3,-11.1,79,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1999,3747
$GC,968,-2.22,-80.5,97.0,-12.0,94,973,0.00,2.58,0.00,0.000,4,0.000,0.061,2243,3407,3747
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,997,-0.38,0.0,100.2,13.2,95,1064,2.03,0.00,61.72,0.573,6,0.121,0.000,2645,2419,3414
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1067,2.22,80.5,102.4,0.0,101,1140,2.67,2.70,59.70,0.569,4,0.078,0.067,3215,1013,3085
$GC,1258,2.22,80.5,90.8,9.0,116,1263,0.00,2.50,0.00,0.000,6,0.000,0.042,3215,2411,3085
$GC,1460,2.22,80.5,73.2,8.3,132,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2411,3085
$GC,1651,2.23,84.9,58.4,7.8,147,1663,0.00,2.65,3.00,0.595,4,0.000,0.064,3215,1007,3067
$GC,1834,2.23,87.6,43.3,8.0,161,1840,0.00,2.47,1.48,0.628,6,0.000,0.040,3215,2422,3058
$GC,2030,2.24,90.7,27.2,8.0,176,2037,0.00,2.65,2.25,0.589,4,0.000,0.062,3215,1010,3045
$GC,2108,2.24,90.7,21.2,8.4,181,2115,0.00,2.50,0.00,0.000,6,0.000,0.039,3215,2420,3044
$GC,2314,2.30,143.7,8.2,2.2,211,2362,0.00,2.72,38.67,0.515,4,0.000,0.074,3215,3818,2828
$GC,2613,2.38,209.6,2.3,0.7,257,2634,0.15,2.42,15.07,0.523,2,0.079,0.035,3248,2415,2726
$STATE,2635,end climb,NO_VERTICAL_VELOCITY
$STATE,2635,begin surface
$SM_CCo,2660,113.70,0.495,0,0,1783,400.08
$SM_GC,0.99,0.00,0.00,113.70,0.000,0.000,0.495,364,1995,1783,-10.88,-0.14,400.08
$IRIDIUM_FIX,4719.74,-12254.47,210907,181820
$TT8_MAMPS,0.078234
$HUMID,2128
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,75.3,63.6
$24V_AH,23.8,16.827
$10V_AH,9.2,11.131
$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,28.750,40.825,181.900,113.700,0.000,40.810,45.833,119.368,0.500,0.000,3205.000,32.697,480.008,1429.410,406.098,507.759,299.586,33.335,695.844,0.000,465.610,0.000,4.154
$DEVICE_MAMPS,161.070,73.632,628.173,495.482,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.255,0.000,0.000,0.000,0.000,0.000,0.000,3205.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6463,260
$CFSIZE,260034560,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,163807,4738.580,-12252.609,13,1.7,30,18.3