version: 66.02
glider: 107
mission: 8
dive: 21
start: 9 21 107 17 34 19
data:
$ID,107
$MISSION,8
$DIVE,21
$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,-13357.758
$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,25
$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
$GPS1,172837,4738.439,-12252.531,13,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.5
$GPS2,173314,4738.454,-12252.520,11,1.4,16,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.114,0.088
$KALMAN_X,1252.9,-4.8,44.8,-848.1,-78.9
$KALMAN_Y,2082.8,62.5,19.8,-3783.8,-29.9
$MHEAD_RNG_PITCHd_Wd,34.0,207,-27.6,-8.333
$D_GRID,134
$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,-2.18,-48.1,0.0,0.0,0,80,0.00,0.00,-55.55,0.000,2,0.000,0.000,363,1990,2906
$GC,83,-2.22,-76.8,2.2,-5.0,9,132,10.50,2.58,-32.20,0.000,4,0.160,0.067,2241,3406,3727
$GC,138,-2.22,-77.0,5.3,-8.3,18,145,0.00,2.47,0.00,0.000,6,0.000,0.040,2241,1998,3727
$GC,210,-2.22,-77.0,14.2,-12.6,29,217,0.00,2.60,0.00,0.000,4,0.000,0.072,2240,599,3728
$GC,466,-2.22,-77.0,42.2,-10.4,52,474,0.00,2.45,0.00,0.000,6,0.000,0.037,2241,1992,3728
$GC,663,-2.22,-77.0,63.8,-11.1,68,667,0.00,2.60,0.00,0.000,4,0.000,0.074,2240,599,3728
$GC,821,-2.22,-77.0,82.6,-12.3,80,825,0.00,2.47,0.00,0.000,6,0.000,0.039,2241,2001,3728
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,990,-0.38,0.0,101.1,10.7,93,1058,2.03,0.00,58.55,0.576,6,0.114,0.000,2640,2418,3414
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1060,2.22,77.0,105.0,0.0,99,1124,2.67,0.00,57.15,0.571,6,0.071,0.000,3210,2418,3101
$GC,1307,2.23,85.9,92.8,7.3,119,1320,0.00,2.60,6.55,0.587,4,0.000,0.064,3212,1016,3063
$GC,1398,2.23,87.5,85.6,8.1,126,1402,0.00,2.50,0.00,0.000,6,0.000,0.041,3211,2432,3062
$GC,1600,2.23,87.5,69.0,8.5,142,1604,0.00,2.60,0.00,0.000,4,0.000,0.064,3211,1016,3062
$GC,1738,2.23,88.0,57.4,8.3,152,1745,0.00,2.47,0.00,0.000,6,0.000,0.040,3210,2425,3062
$GC,1934,2.24,89.9,41.7,8.1,168,1938,0.00,0.00,2.58,0.601,6,0.000,0.000,3211,2425,3048
$GC,2123,2.24,94.3,27.0,7.8,183,2135,0.00,2.65,3.03,0.584,4,0.000,0.062,3211,1015,3030
$GC,2280,2.24,96.1,14.6,8.1,200,2287,0.00,2.47,0.00,0.000,6,0.000,0.039,3211,2429,3029
$GC,2353,2.25,104.6,9.4,7.3,211,2366,0.00,2.60,7.30,0.547,4,0.000,0.061,3211,1015,2988
$GC,2617,2.34,174.5,6.3,0.2,251,2678,0.12,2.45,51.20,0.516,6,0.074,0.038,3241,2421,2702
$GC,2744,2.41,228.5,2.1,2.1,271,2757,0.00,0.00,11.55,0.522,2,0.000,0.000,3241,2421,2619
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,0.3,1.020137
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2934,107.18,0.502,0,0,1783,400.08
$SM_GC,0.96,0.00,0.00,107.18,0.000,0.000,0.502,357,1997,1783,-10.91,-0.11,400.08
$IRIDIUM_FIX,4722.92,-12253.53,210907,202049
$TT8_MAMPS,0.0767
$HUMID,2133
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.3
$ALTIM_BOTTOM_PING,75.4,49.6
$24V_AH,23.8,16.952
$10V_AH,9.1,11.267
$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,28.150,37.025,197.900,107.175,0.000,41.198,23.992,114.399,0.500,0.000,3434.000,16.898,538.175,1563.077,419.791,548.829,276.399,33.338,729.533,0.000,524.358,0.000,4.134
$DEVICE_MAMPS,160.303,73.632,601.328,502.385,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.326,0.000,0.000,0.000,0.000,0.000,0.000,3434.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,9582,296
$CFSIZE,260034560,256110592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,182545,4738.521,-12252.448,11,1.6,11,18.3