version: 66.02
glider: 107
mission: 8
dive: 25
start: 9 21 107 21 16 3
data:
$ID,107
$MISSION,8
$DIVE,25
$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,-13419.939
$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,23
$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
$GPS1,211035,4739.094,-12251.997,10,4.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.8
$GPS2,211456,4739.114,-12251.951,16,2.0,16,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H1
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,-0.123
$KALMAN_X,1684.2,-49.1,-95.0,-390.2,132.4
$KALMAN_Y,2477.2,-24.8,-28.6,-2825.3,86.5
$MHEAD_RNG_PITCHd_Wd,194.9,220,-27.3,-8.333
$D_GRID,127
$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,-2.16,-49.4,0.0,0.0,0,80,0.00,0.00,-55.45,0.000,2,0.000,0.000,359,2001,2909
$GC,83,-2.20,-83.8,2.1,-4.4,9,137,10.55,2.67,-34.10,0.000,4,0.160,0.083,2248,597,3758
$GC,150,-2.20,-83.8,6.0,-9.6,20,157,0.00,2.45,0.00,0.000,6,0.000,0.036,2248,2008,3758
$GC,222,-2.20,-83.8,14.8,-11.0,31,229,0.00,2.53,0.00,0.000,4,0.000,0.058,2248,3397,3759
$GC,341,-2.20,-83.8,27.2,-10.7,44,345,0.00,2.45,0.00,0.000,6,0.000,0.040,2248,1996,3760
$GC,542,-2.20,-83.8,48.7,-10.6,60,546,0.00,2.55,0.00,0.000,4,0.000,0.059,2248,3398,3760
$GC,581,-2.20,-83.8,53.2,-12.0,63,586,0.00,2.45,0.00,0.000,6,0.000,0.049,2248,2002,3760
$GC,786,-2.20,-83.8,76.1,-11.5,79,790,0.00,2.55,0.00,0.000,4,0.000,0.059,2248,3401,3759
$GC,849,-2.20,-83.8,84.2,-11.9,83,857,0.00,2.50,0.00,0.000,6,0.000,0.042,2248,2000,3760
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,999,-0.38,0.0,100.9,11.1,95,1069,2.00,0.00,64.18,0.566,6,0.112,0.000,2644,2413,3414
$STATE,1070,end apogee,CONTROL_FINISHED_OK
$STATE,1070,begin climb
$GC,1072,2.20,83.8,103.5,0.0,101,1144,2.60,0.00,62.35,0.562,6,0.074,0.000,3210,2413,3073
$GC,1333,2.21,87.9,86.3,7.9,122,1345,0.00,2.65,2.75,0.604,4,0.000,0.064,3210,1013,3056
$GC,1438,2.21,90.4,77.7,8.0,130,1445,0.00,2.50,1.75,0.630,6,0.000,0.041,3210,2431,3046
$GC,1633,2.21,90.7,61.3,8.3,145,1637,0.00,2.62,0.00,0.000,4,0.000,0.064,3210,1006,3045
$GC,1683,2.21,90.7,57.0,8.4,148,1691,0.00,2.50,0.00,0.000,6,0.000,0.039,3210,2417,3045
$GC,1880,2.21,90.7,40.3,9.2,164,1884,0.00,2.58,0.00,0.000,4,0.000,0.063,3210,1012,3045
$GC,2015,2.21,94.9,29.0,7.9,174,2027,0.00,2.47,3.05,0.580,6,0.000,0.039,3210,2425,3027
$GC,2219,2.22,98.3,12.5,8.0,197,2227,0.00,2.65,2.45,0.584,4,0.000,0.062,3210,1012,3013
$GC,2478,2.31,176.4,6.0,-0.5,236,2505,0.10,2.47,21.10,0.525,2,0.078,0.038,3234,2431,2893
$STATE,2506,end climb,NO_VERTICAL_VELOCITY
$STATE,2506,begin surface
$SM_CCo,2513,295.65,0.491,0,0,679,671.14
$SM_GC,0.93,12.75,0.00,0.00,0.041,0.000,0.000,358,1990,681,-10.85,-0.28,670.65
$IRIDIUM_FIX,4719.74,-12250.06,220907,000004
$TT8_MAMPS,0.083603
$HUMID,2114
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.70
$XPDR_PINGS,60
$ALTIM_TOP_PING,9.7,9.4
$ALTIM_BOTTOM_PING,76.1,77.6
$24V_AH,23.8,17.243
$10V_AH,8.1,11.538
$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,28.000,42.150,157.625,295.650,0.000,40.933,25.674,96.114,15.500,0.000,3025.000,17.007,460.939,1463.351,577.524,452.383,254.600,33.343,847.034,0.000,428.898,0.000,4.175
$DEVICE_MAMPS,159.536,82.836,629.707,490.880,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.093,0.000,0.000,0.000,0.000,0.000,0.000,3025.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6436,240
$CFSIZE,260034560,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,220555,4739.073,-12251.963,31,1.5,41,18.3