version: 66.02
glider: 107
mission: 10
dive: 67
start: 10 2 107 12 43 25
data:
$ID,107
$MISSION,10
$DIVE,67
$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,-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,-16327.313
$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,24
$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
$GPS1,123457,4738.104,-12253.961,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-54.3
$GPS2,124151,4738.156,-12253.927,13,1.4,13,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.150
$KALMAN_X,14638.4,392.5,65.2,-16101.3,-167.2
$KALMAN_Y,10419.9,219.2,74.3,-13466.8,-65.0
$MHEAD_RNG_PITCHd_Wd,24.5,1511,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.60,-97.8,0.0,0.0,0,106,0.00,0.00,-78.50,0.000,2,0.000,0.000,361,2047,3252
$GC,108,-1.60,-97.8,2.1,-5.1,13,146,11.52,2.65,-20.08,0.000,4,0.160,0.067,2378,3457,3814
$GC,397,-1.60,-97.8,25.6,-7.0,52,401,0.00,2.47,0.00,0.000,6,0.000,0.038,2378,2050,3815
$GC,599,-1.60,-97.8,39.0,-7.0,68,603,0.00,2.58,0.00,0.000,4,0.000,0.055,2378,3454,3815
$GC,856,-1.60,-97.8,59.0,-7.8,87,860,0.00,2.47,0.00,0.000,6,0.000,0.039,2378,2049,3815
$GC,1058,-1.60,-97.8,74.2,-7.9,103,1063,0.00,2.55,0.00,0.000,4,0.000,0.056,2378,3448,3815
$GC,1171,-1.60,-97.8,82.7,-7.7,111,1175,0.00,2.47,0.00,0.000,6,0.000,0.040,2378,2053,3815
$GC,1366,-1.60,-97.8,97.2,-7.3,126,1370,0.00,2.55,0.00,0.000,4,0.000,0.058,2378,3448,3815
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1408,-0.38,0.0,100.3,7.9,128,1487,1.30,0.00,75.55,0.580,6,0.104,0.000,2638,2434,3415
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1488,begin climb
$GC,1490,1.60,97.8,102.2,0.0,135,1571,2.10,0.00,74.07,0.576,6,0.073,0.000,3079,2434,3016
$GC,1759,1.62,110.1,84.6,7.6,157,1772,0.00,0.00,8.85,0.583,6,0.000,0.000,3078,2432,2966
$GC,1960,1.62,116.5,68.4,8.0,173,1973,0.00,2.67,4.57,0.586,4,0.000,0.066,3078,3838,2940
$GC,2012,1.62,116.5,63.8,9.0,177,2016,0.00,2.45,0.00,0.000,6,0.000,0.034,3081,2431,2939
$GC,2215,1.63,122.6,47.4,8.0,193,2227,0.00,2.70,4.55,0.576,4,0.000,0.065,3078,3845,2915
$GC,2271,1.63,122.6,42.4,8.5,197,2279,0.00,2.50,0.00,0.000,6,0.000,0.033,3078,2450,2914
$GC,2468,1.63,125.0,26.5,8.2,213,2472,0.00,0.00,1.60,0.614,6,0.000,0.000,3078,2447,2905
$GC,2663,1.66,143.8,11.6,7.3,236,2682,0.00,2.65,14.05,0.535,4,0.000,0.062,3078,1051,2827
$GC,2768,1.74,212.7,6.8,4.4,252,2829,0.15,2.45,51.08,0.521,6,0.068,0.038,3113,2450,2547
$STATE,2853,end climb,SURFACE_DEPTH_REACHED
$STATE,2853,begin surface coast
$FINISH,0.1,1.022016
$STATE,2882,end surface coast,CONTROL_FINISHED_OK
$STATE,2882,begin surface
$SM_CCo,2907,122.35,0.506,0,0,1580,450.13
$SM_GC,0.63,0.00,0.00,122.35,0.000,0.000,0.506,360,2044,1580,-10.90,-0.17,450.13
$IRIDIUM_FIX,4719.74,-12254.47,021007,151519
$TT8_MAMPS,0.072098
$HUMID,2015
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.90
$XPDR_PINGS,177
$ALTIM_TOP_PING,9.7,9.6
$ALTIM_BOTTOM_PING,75.1,999.0
$24V_AH,23.3,6.647
$10V_AH,10.1,4.904
$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,27.250,35.675,234.325,122.350,0.000,40.649,40.548,223.526,44.750,281.900,3295.100,14.250,500.526,1597.446,460.935,505.151,436.144,33.328,755.020,0.000,481.395,0.000,4.112
$DEVICE_MAMPS,159.536,66.729,613.600,506.220,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.902,0.000,0.000,0.000,0.000,0.000,0.000,3577.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,270
$CFSIZE,260034560,254656512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,133459,4738.212,-12253.778,10,2.3,29,18.3