version: 66.02
glider: 107
mission: 8
dive: 23
start: 9 21 107 19 31 10
data:
$ID,107
$MISSION,8
$DIVE,23
$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,-13387.503
$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,23
$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
$GPS1,192507,4738.695,-12252.089,11,1.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-57.4
$GPS2,193003,4738.724,-12252.054,14,1.8,14,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.198
$KALMAN_X,1343.2,-33.1,-63.1,-228.3,-59.3
$KALMAN_Y,2082.0,9.4,-11.2,-3201.2,-55.7
$MHEAD_RNG_PITCHd_Wd,355.6,516,-19.3,-8.333
$D_GRID,128
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.60,-97.8,0.0,0.0,0,80,0.00,0.00,-55.40,0.000,2,0.000,0.000,357,1993,2903
$GC,83,-1.60,-97.8,2.1,-4.6,9,138,11.15,2.60,-36.35,0.000,4,0.156,0.084,2374,600,3814
$GC,388,-1.60,-97.8,25.8,-8.1,51,396,0.00,2.45,0.00,0.000,6,0.000,0.036,2374,2000,3816
$GC,584,-1.60,-97.8,42.0,-8.4,67,589,0.00,2.58,0.00,0.000,4,0.000,0.061,2374,3398,3816
$GC,650,-1.60,-97.8,47.8,-9.0,72,654,0.00,2.47,0.00,0.000,6,0.000,0.041,2374,2004,3816
$GC,852,-1.60,-97.8,65.9,-8.9,88,856,0.00,2.55,0.00,0.000,4,0.000,0.060,2375,3403,3816
$GC,917,-1.60,-97.8,71.8,-9.1,93,922,0.00,2.50,0.00,0.000,6,0.000,0.042,2374,1998,3816
$GC,1119,-1.60,-97.8,89.1,-8.7,109,1123,0.00,2.55,0.00,0.000,4,0.000,0.061,2374,3399,3816
$GC,1217,-1.60,-97.8,98.0,-9.0,116,1225,0.00,2.50,0.00,0.000,6,0.000,0.042,2374,1999,3816
$STATE,1247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1253,-0.38,0.0,100.6,8.6,119,1335,1.35,0.00,74.53,0.578,6,0.108,0.000,2643,2413,3414
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1337,1.60,97.8,103.1,0.0,126,1419,2.08,0.00,72.93,0.571,6,0.077,0.000,3080,2412,3015
$GC,1608,1.65,140.6,89.4,5.9,148,1645,0.00,2.62,31.25,0.559,4,0.000,0.065,3080,1014,2840
$GC,1717,1.69,169.5,82.1,6.7,156,1749,0.00,2.50,21.23,0.558,6,0.000,0.041,3080,2431,2724
$GC,1937,1.70,178.5,65.4,7.8,174,1950,0.00,2.65,6.35,0.570,4,0.000,0.064,3080,1013,2686
$GC,2008,1.70,178.8,59.4,8.3,179,2015,0.00,2.50,0.00,0.000,6,0.000,0.039,3081,2415,2686
$GC,2204,1.70,181.2,43.2,8.2,195,2211,0.00,2.58,2.00,0.607,4,0.000,0.064,3081,1014,2674
$GC,2255,1.71,189.0,39.0,7.9,198,2268,0.00,2.50,5.25,0.561,6,0.000,0.039,3080,2421,2643
$GC,2464,1.71,189.0,22.4,8.3,215,2469,0.10,2.58,0.00,0.000,4,0.074,0.063,3108,1014,2643
$GC,2523,1.71,189.0,17.0,9.7,221,2530,0.00,2.47,0.00,0.000,6,0.000,0.040,3108,2426,2643
$GC,2596,1.72,194.6,11.1,8.0,232,2609,0.00,2.65,3.85,0.567,4,0.000,0.062,3108,1014,2620
$GC,2627,1.72,194.6,8.4,8.7,237,2634,0.00,2.47,0.00,0.000,6,0.000,0.040,3110,2424,2621
$GC,2700,1.80,261.5,3.8,4.5,248,2755,0.00,2.65,47.00,0.513,4,0.000,0.063,3108,1014,2347
$STATE,2759,end climb,SURFACE_DEPTH_REACHED
$STATE,2759,begin surface coast
$FINISH,0.3,1.010057
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2838,69.38,0.501,0,0,1784,400.08
$SM_GC,1.08,0.00,0.00,69.38,0.000,0.000,0.501,356,2019,1784,-10.92,0.54,400.08
$IRIDIUM_FIX,4722.92,-12251.79,151296,181814
$TT8_MAMPS,0.078234
$HUMID,2106
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,9.0
$ALTIM_BOTTOM_PING,76.1,77.0
$24V_AH,23.8,17.099
$10V_AH,8.8,11.411
$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,26.975,50.875,264.375,69.375,0.000,39.281,38.299,121.579,0.500,0.000,3338.000,14.345,486.347,1496.669,454.638,498.288,297.182,33.346,762.795,0.000,475.550,0.000,4.172
$DEVICE_MAMPS,155.701,83.603,606.697,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.385,0.000,0.000,0.000,0.000,0.000,0.000,3338.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6442,266
$CFSIZE,260034560,256053248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,202021,4739.039,-12251.867,10,1.8,10,18.3