version: 66.02
glider: 107
mission: 10
dive: 66
start: 10 2 107 11 43 8
data:
$ID,107
$MISSION,10
$DIVE,66
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-3
$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,-16312.433
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,113635,4737.953,-12254.170,9,2.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-52.9
$GPS2,114209,4737.991,-12254.148,15,1.1,15,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,0.155
$KALMAN_X,14599.9,454.9,99.7,-16431.0,-124.7
$KALMAN_Y,10406.5,252.5,117.3,-13838.0,-58.9
$MHEAD_RNG_PITCHd_Wd,22.4,1915,-19.3,-8.333
$D_GRID,147
$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,-1.60,-97.8,0.0,0.0,0,105,0.00,0.00,-79.25,0.000,2,0.000,0.000,364,2056,3275
$GC,107,-1.60,-97.8,2.0,-4.5,13,145,11.45,2.55,-19.75,0.000,4,0.162,0.067,2374,3453,3813
$GC,396,-1.60,-97.8,26.0,-7.9,52,400,0.00,2.47,0.00,0.000,6,0.000,0.038,2375,2044,3814
$GC,598,-1.60,-97.8,39.8,-6.9,68,602,0.00,2.65,0.00,0.000,4,0.000,0.054,2374,3449,3814
$GC,802,-1.60,-97.8,55.5,-7.4,83,806,0.00,2.47,0.00,0.000,6,0.000,0.039,2375,2048,3814
$GC,998,-1.60,-97.8,70.0,-7.6,98,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2048,3814
$GC,1188,-1.60,-97.8,83.3,-6.8,113,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2047,3814
$GC,1377,-1.60,-97.8,95.5,-6.4,128,1381,0.00,2.65,0.00,0.000,4,0.000,0.057,2375,3448,3815
$STATE,1447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1447,begin apogee
$GC,1453,-0.38,0.0,100.2,6.9,133,1534,1.35,0.00,75.68,0.580,6,0.100,0.000,2643,2436,3415
$STATE,1535,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1537,1.60,97.8,102.0,0.0,140,1618,2.05,0.00,74.12,0.576,6,0.069,0.000,3079,2436,3015
$GC,1807,1.61,103.4,83.6,8.0,162,1820,0.00,2.70,3.88,0.603,4,0.000,0.066,3080,3847,2992
$GC,1877,1.61,103.4,77.0,9.3,167,1885,0.00,2.47,0.00,0.000,6,0.000,0.034,3079,2444,2992
$GC,2073,1.61,103.4,60.1,8.5,183,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2442,2992
$GC,2264,1.63,117.3,45.2,7.5,198,2276,0.00,0.00,10.18,0.558,6,0.000,0.000,3079,2441,2936
$GC,2464,1.63,117.3,28.3,8.7,214,2468,0.00,2.62,0.00,0.000,4,0.000,0.064,3080,3844,2934
$GC,2517,1.63,117.3,23.6,8.9,218,2521,0.00,2.50,0.00,0.000,6,0.000,0.032,3080,2444,2935
$GC,2722,1.69,167.3,9.7,5.5,245,2765,0.00,2.67,37.45,0.524,4,0.000,0.061,3079,1053,2732
$GC,2819,1.75,221.0,5.5,5.3,260,2868,0.15,2.53,39.78,0.522,6,0.067,0.038,3113,2456,2511
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.1,1.021170
$STATE,2922,end surface coast,CONTROL_FINISHED_OK
$STATE,2922,begin surface
$SM_CCo,2947,116.47,0.508,0,0,1580,450.13
$SM_GC,0.68,0.00,0.00,116.47,0.000,0.000,0.508,361,2048,1580,-10.90,-0.06,450.13
$IRIDIUM_FIX,4722.92,-12256.21,021007,141417
$TT8_MAMPS,0.073632
$HUMID,2015
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,177
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.4,6.486
$10V_AH,10.1,4.830
$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,27.125,30.825,241.075,116.475,0.000,38.293,31.523,156.319,44.750,282.801,3245.199,15.388,499.521,1640.981,456.286,498.286,323.804,33.330,746.329,0.000,474.217,0.000,4.112
$DEVICE_MAMPS,161.837,66.729,602.862,507.754,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.900,0.000,0.000,0.000,0.000,0.000,0.000,3528.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,276
$CFSIZE,260034560,254689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,123457,4738.104,-12253.961,12,1.8,12,18.3