version: 66.02
glider: 107
mission: 10
dive: 6
start: 9 30 107 3 11 32
data:
$ID,107
$MISSION,10
$DIVE,6
$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,-14877.765
$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,2150
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$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
$GPS1,030509,4739.568,-12252.192,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-50.2
$GPS2,031029,4739.638,-12252.063,16,2.1,35,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,-0.107
$KALMAN_X,735.1,385.7,173.1,19.9,101.5
$KALMAN_Y,642.0,462.9,269.7,-1387.6,3.6
$MHEAD_RNG_PITCHd_Wd,223.0,528,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.99,-97.8,0.0,0.0,0,111,0.00,0.00,-85.35,0.000,2,0.000,0.000,364,2366,3370
$GC,114,-1.99,-97.8,2.2,-5.2,14,145,11.05,0.00,-14.85,0.000,6,0.168,0.000,2292,2365,3815
$GC,210,-1.99,-97.8,9.7,-8.2,29,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2365,3816
$GC,282,-1.99,-97.8,15.0,-7.9,40,289,0.00,3.00,0.00,0.000,4,0.000,0.065,2292,746,3816
$GC,388,-1.99,-97.8,25.1,-9.2,53,392,0.00,2.47,0.00,0.000,6,0.000,0.038,2292,2157,3816
$GC,583,-1.99,-97.8,43.5,-10.0,68,587,0.00,2.62,0.00,0.000,4,0.000,0.068,2292,743,3816
$GC,722,-1.99,-97.8,58.7,-11.1,78,727,0.00,2.47,0.00,0.000,6,0.000,0.040,2292,2149,3816
$GC,917,-1.99,-97.8,79.4,-10.5,93,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2149,3816
$GC,1108,-1.99,-97.8,99.5,-10.7,108,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2149,3816
$STATE,1117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1117,begin apogee
$GC,1122,-0.38,0.0,100.9,10.7,109,1204,1.80,0.00,75.30,0.589,6,0.113,0.000,2644,2461,3414
$STATE,1205,end apogee,CONTROL_FINISHED_OK
$STATE,1205,begin climb
$GC,1207,1.99,97.8,103.8,0.0,116,1292,2.42,2.70,73.45,0.580,4,0.078,0.074,3163,3853,3017
$GC,1358,2.02,117.2,93.8,9.6,128,1377,0.00,2.45,14.05,0.582,6,0.000,0.034,3163,2445,2937
$GC,1565,2.03,133.0,73.6,9.9,144,1582,0.00,2.67,11.73,0.573,4,0.000,0.069,3163,3852,2873
$GC,1630,2.04,133.9,66.5,11.0,149,1634,0.00,2.42,0.00,0.000,6,0.000,0.032,3163,2448,2873
$GC,1832,2.04,137.9,44.5,10.8,165,1837,0.00,0.00,3.70,0.583,6,0.000,0.000,3163,2445,2852
$GC,2021,2.05,148.0,24.3,10.4,180,2034,0.00,0.00,7.43,0.559,6,0.000,0.000,3163,2445,2810
$STATE,2208,end climb,SURFACE_DEPTH_REACHED
$STATE,2208,begin surface coast
$FINISH,0.0,1.021765
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2224,begin surface
$SM_CCo,2248,153.60,0.511,0,0,1580,450.13
$SM_GC,0.70,0.00,0.00,153.60,0.000,0.000,0.511,365,2147,1580,-10.88,-0.08,450.13
$IRIDIUM_FIX,4719.74,-12251.79,300907,060623
$TT8_MAMPS,0.073632
$HUMID,2012
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,142
$ALTIM_TOP_PING,10.0,9.7
$ALTIM_BOTTOM_PING,75.4,999.0
$24V_AH,23.8,0.811
$10V_AH,10.0,0.587
$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,27.800,21.925,185.650,153.600,0.000,38.341,38.568,121.802,36.000,8.300,2808.700,36.500,396.966,1207.097,437.520,410.985,295.701,33.322,677.080,0.000,370.186,0.000,4.112
$DEVICE_MAMPS,167.973,73.632,589.056,510.822,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.664,0.000,0.000,0.000,0.000,0.000,0.000,2817.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,208
$CFSIZE,260034560,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,035221,4739.620,-12252.130,13,1.7,13,18.3