version: 66.02
glider: 107
mission: 10
dive: 5
start: 9 30 107 2 24 0
data:
$ID,107
$MISSION,10
$DIVE,5
$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,30
$T_MISSION,70
$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,450
$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,-14840.637
$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,2350
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$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,-10.644979
$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
$GPS1,021741,4739.653,-12252.294,12,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-51.4
$GPS2,022256,4739.711,-12252.206,18,2.0,29,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,-0.178
$KALMAN_X,485.1,275.8,170.9,205.4,82.4
$KALMAN_Y,521.1,395.6,301.0,-1092.8,23.6
$MHEAD_RNG_PITCHd_Wd,198.5,514,-24.3,-11.111
$D_GRID,124
$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,-1.99,-97.8,0.0,0.0,0,110,0.00,0.00,-85.38,0.000,2,0.000,0.000,363,2358,3355
$GC,113,-1.99,-97.8,2.1,-5.1,14,144,11.05,0.00,-16.08,0.000,6,0.167,0.000,2292,2359,3816
$GC,209,-1.99,-97.8,9.9,-10.1,29,216,0.00,2.60,0.00,0.000,4,0.000,0.064,2293,3764,3815
$GC,235,-1.99,-97.8,12.0,-8.4,33,242,0.00,2.47,0.00,0.000,6,0.000,0.033,2293,2339,3815
$GC,307,-1.99,-97.8,18.3,-9.5,44,314,0.00,2.60,0.00,0.000,4,0.000,0.062,2293,951,3815
$GC,441,-1.99,-97.8,32.1,-10.1,56,446,0.00,2.47,0.00,0.000,6,0.000,0.041,2293,2355,3815
$GC,636,-1.99,-97.8,51.7,-9.6,71,640,0.00,2.60,0.00,0.000,4,0.000,0.062,2292,942,3816
$GC,783,-1.99,-97.8,66.3,-9.9,82,788,0.00,2.50,0.00,0.000,6,0.000,0.043,2293,2354,3815
$GC,978,-1.99,-97.8,86.5,-10.0,97,983,0.00,2.60,0.00,0.000,4,0.000,0.064,2292,944,3816
$GC,1029,-1.99,-97.8,91.5,-9.8,100,1037,0.00,2.53,0.00,0.000,6,0.000,0.043,2293,2355,3816
$STATE,1123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1123,begin apogee
$GC,1128,-0.38,0.0,100.3,9.3,108,1210,1.77,0.00,75.28,0.581,6,0.107,0.000,2644,2042,3414
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1213,1.99,97.8,102.5,0.0,115,1299,2.35,2.67,73.38,0.575,4,0.068,0.057,3163,3460,3014
$GC,1404,2.02,120.8,88.9,9.4,130,1429,0.00,2.50,16.90,0.576,6,0.000,0.040,3163,2049,2920
$GC,1617,2.04,139.2,69.0,9.7,147,1636,0.00,2.60,13.55,0.571,4,0.000,0.056,3163,3458,2845
$GC,1834,2.06,150.1,46.5,10.3,163,1847,0.00,2.50,7.80,0.566,6,0.000,0.039,3163,2041,2802
$GC,2035,2.07,164.1,26.6,10.0,179,2052,0.00,2.65,10.23,0.553,4,0.000,0.054,3163,3461,2745
$GC,2133,2.07,164.1,15.1,12.3,189,2140,0.00,2.50,0.00,0.000,6,0.000,0.038,3163,2042,2745
$GC,2206,2.07,164.1,6.5,11.4,200,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2041,2745
$STATE,2242,end climb,SURFACE_DEPTH_REACHED
$STATE,2242,begin surface coast
$FINISH,0.7,1.021758
$STATE,2257,end surface coast,CONTROL_FINISHED_OK
$STATE,2257,begin surface
$SM_CCo,2281,144.80,0.506,0,0,1580,450.13
$SM_GC,0.66,0.00,0.00,144.80,0.000,0.000,0.506,364,2364,1580,-10.89,0.40,450.13
$IRIDIUM_FIX,4722.92,-12256.21,300907,050503
$TT8_MAMPS,0.073632
$HUMID,2012
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.90
$XPDR_PINGS,138
$ALTIM_TOP_PING,9.5,999.0
$ALTIM_BOTTOM_PING,75.0,999.0
$24V_AH,23.8,0.736
$10V_AH,10.0,0.527
$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,27.600,36.925,197.125,144.800,0.000,38.973,37.219,123.946,35.000,8.300,2862.700,29.567,406.102,1158.909,455.588,450.040,298.492,33.322,725.379,0.000,414.043,0.000,4.060
$DEVICE_MAMPS,167.206,64.428,581.386,506.220,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.053,0.000,0.000,0.000,0.000,0.000,0.000,2871.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,208
$CFSIZE,260034560,256630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,030509,4739.568,-12252.192,9,1.7,9,18.3