version: 66.02
glider: 107
mission: 10
dive: 16
start: 9 30 107 11 12 32
data:
$ID,107
$MISSION,10
$DIVE,16
$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,-15101.653
$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,2050
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$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
$GPS1,110625,4739.938,-12251.928,31,1.2,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-51.0
$GPS2,111127,4739.997,-12251.869,11,1.7,11,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,-0.202
$KALMAN_X,3144.8,713.7,185.2,-2482.3,-71.7
$KALMAN_Y,3369.2,772.6,201.0,-3690.7,10.6
$MHEAD_RNG_PITCHd_Wd,186.4,1186,-24.3,-11.111
$D_GRID,121
$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,-97.8,0.0,0.0,0,117,0.00,0.00,-91.40,0.000,2,0.000,0.000,365,2045,3518
$GC,120,-1.99,-97.8,2.1,-3.2,15,151,11.48,2.62,-9.62,0.000,4,0.176,0.067,2291,3453,3814
$GC,210,-1.99,-97.8,10.7,-10.2,29,216,0.00,2.50,0.00,0.000,6,0.000,0.038,2291,2040,3815
$GC,282,-1.99,-97.8,17.3,-8.7,40,288,0.00,2.62,0.00,0.000,4,0.000,0.072,2291,638,3815
$GC,506,-1.99,-97.8,38.4,-9.6,60,510,0.00,2.50,0.00,0.000,6,0.000,0.038,2291,2057,3815
$GC,708,-1.99,-97.8,57.7,-9.9,76,712,0.00,2.65,0.00,0.000,4,0.000,0.070,2291,645,3815
$GC,759,-1.99,-97.8,63.2,-10.5,79,767,0.00,2.50,0.00,0.000,6,0.000,0.037,2291,2050,3815
$GC,956,-1.99,-97.8,79.0,-5.5,95,960,0.00,2.55,0.00,0.000,4,0.000,0.058,2291,3451,3816
$GC,1035,-1.99,-97.8,84.6,-6.8,101,1039,0.00,2.50,0.00,0.000,6,0.000,0.038,2291,2042,3816
$GC,1230,-1.99,-97.8,96.2,-2.5,116,1234,0.00,2.65,0.00,0.000,4,0.000,0.074,2291,637,3816
$GC,1276,-1.99,-97.8,98.9,-6.6,119,1280,0.00,2.50,0.00,0.000,6,0.000,0.038,2291,2056,3816
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1304,-0.38,0.0,100.7,6.8,121,1386,1.83,0.00,75.72,0.581,6,0.115,0.000,2643,2459,3414
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1389,1.99,97.8,101.9,0.0,128,1475,2.42,2.70,73.72,0.572,4,0.077,0.071,3164,3851,3016
$GC,1533,2.02,118.7,91.2,9.5,139,1553,0.00,2.50,15.38,0.573,6,0.000,0.034,3163,2440,2930
$GC,1741,2.02,118.7,68.6,11.2,156,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2438,2930
$GC,1932,2.04,133.1,50.0,10.0,171,1948,0.00,2.70,10.62,0.556,4,0.000,0.067,3163,3848,2872
$GC,2049,2.04,137.8,37.3,10.8,180,2062,0.00,2.45,3.25,0.577,6,0.000,0.034,3164,2447,2853
$GC,2251,2.04,138.0,17.3,11.1,197,2257,0.00,2.58,0.00,0.000,4,0.000,0.062,3164,1051,2854
$GC,2348,2.10,184.3,7.5,7.6,212,2392,0.10,2.47,34.58,0.521,6,0.081,0.038,3185,2455,2662
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,0.1,1.021682
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2418,begin surface
$SM_CCo,2443,133.05,0.509,0,0,1579,450.13
$SM_GC,0.54,0.00,0.00,133.05,0.000,0.000,0.509,361,2048,1579,-10.90,-0.08,450.13
$IRIDIUM_FIX,4722.92,-12249.11,300907,141420
$TT8_MAMPS,0.073632
$HUMID,2009
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,143
$ALTIM_TOP_PING,9.4,999.0
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.1,1.919
$10V_AH,10.0,1.199
$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,28.300,42.450,213.275,133.050,0.000,38.051,40.723,124.762,36.250,234.770,2807.230,11.372,422.993,1278.184,459.076,442.519,305.077,33.321,736.527,0.000,419.321,0.000,4.847
$DEVICE_MAMPS,175.643,74.399,581.386,509.288,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.798,0.000,0.000,0.000,0.000,0.000,0.000,3042.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6466,223
$CFSIZE,260034560,256311296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,115614,4739.813,-12252.040,11,1.5,11,18.3