version: 66.02
glider: 107
mission: 8
dive: 14
start: 9 21 107 11 19 33
data:
$ID,107
$MISSION,8
$DIVE,14
$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,-13197.125
$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,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
$GPS1,111345,4738.604,-12253.188,15,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.6
$GPS2,111827,4738.607,-12253.132,16,1.9,16,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.196,-0.057
$KALMAN_X,1116.9,119.3,-47.2,-1512.0,121.0
$KALMAN_Y,1600.7,185.1,34.8,-3159.7,47.3
$MHEAD_RNG_PITCHd_Wd,87.8,922,-19.3,-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,-1.60,-97.8,0.0,0.0,0,75,0.00,0.00,-49.53,0.000,2,0.000,0.000,362,1995,2793
$GC,78,-1.60,-97.8,2.0,-4.1,8,145,11.27,2.67,-45.47,0.000,4,0.160,0.084,2377,596,3814
$GC,394,-1.60,-97.8,26.6,-8.1,51,402,0.00,2.47,0.00,0.000,6,0.000,0.036,2377,2004,3816
$GC,591,-1.60,-97.8,43.5,-9.1,67,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2004,3815
$GC,782,-1.60,-97.8,60.1,-8.5,82,787,0.00,2.53,0.00,0.000,4,0.000,0.061,2377,3398,3816
$GC,899,-1.60,-97.8,70.7,-9.2,90,907,0.00,2.47,0.00,0.000,6,0.000,0.041,2377,2009,3816
$GC,1095,-1.60,-97.8,87.6,-8.5,106,1100,0.00,2.58,0.00,0.000,4,0.000,0.061,2377,3395,3816
$GC,1206,-1.60,-97.8,97.4,-8.6,114,1214,0.00,2.50,0.00,0.000,6,0.000,0.043,2377,2006,3816
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1242,-0.38,0.0,100.1,8.8,117,1324,1.35,0.00,74.68,0.574,6,0.111,0.000,2642,2417,3413
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1327,1.60,97.8,102.6,0.0,124,1408,2.10,0.00,73.05,0.566,6,0.082,0.000,3079,2417,3015
$GC,1597,1.65,137.9,89.5,6.0,146,1634,0.00,2.67,29.50,0.560,4,0.000,0.067,3079,1005,2851
$GC,1686,1.67,155.2,83.6,7.3,153,1704,0.00,2.53,12.50,0.565,6,0.000,0.041,3079,2427,2782
$GC,1894,1.69,174.0,68.1,7.3,169,1913,0.00,2.72,13.98,0.555,4,0.000,0.065,3078,1007,2704
$GC,1957,1.69,174.0,63.0,8.7,173,1965,0.00,2.53,0.00,0.000,6,0.000,0.041,3079,2418,2703
$GC,2154,1.71,185.0,47.2,7.7,189,2168,0.10,2.70,7.65,0.564,4,0.077,0.064,3105,1004,2660
$GC,2235,1.71,185.0,40.0,9.1,195,2239,0.00,2.50,0.00,0.000,6,0.000,0.040,3105,2421,2660
$GC,2429,1.71,185.0,22.8,8.8,210,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2421,2660
$GC,2626,1.75,219.7,6.8,6.3,237,2658,0.00,2.65,25.35,0.520,4,0.000,0.064,3104,1006,2518
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.3,0.999951
$STATE,2756,end surface coast,CONTROL_FINISHED_OK
$STATE,2756,begin surface
$SM_CCo,2781,99.47,0.499,0,0,1784,400.08
$SM_GC,0.92,0.00,0.00,99.47,0.000,0.000,0.499,357,2014,1784,-10.91,0.40,400.08
$IRIDIUM_FIX,4719.74,-12254.47,210907,141447
$TT8_MAMPS,0.079768
$HUMID,2127
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,9.4
$ALTIM_BOTTOM_PING,75.4,76.3
$24V_AH,23.8,16.429
$10V_AH,9.4,10.791
$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,27.175,36.025,236.700,99.475,0.000,37.298,46.674,104.938,0.500,62.250,3214.750,16.361,474.980,1511.324,447.626,477.073,280.290,33.342,731.457,0.000,456.027,0.000,4.170
$DEVICE_MAMPS,159.536,84.370,573.716,498.550,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,171.108,0.000,0.000,0.000,0.000,0.000,0.000,3277.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6420,257
$CFSIZE,260034560,256344064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,120837,4738.603,-12252.602,14,1.2,30,18.3