version: 66.02
glider: 107
mission: 10
dive: 80
start: 10 3 107 1 56 34
data:
$ID,107
$MISSION,10
$DIVE,80
$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,-16580.832
$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,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
$GPS1,014635,4739.634,-12252.315,15,3.0,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-53.8
$GPS2,015527,4739.712,-12252.250,16,1.2,16,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,0.190
$KALMAN_X,18356.8,418.7,102.4,-17792.9,-4.0
$KALMAN_Y,13209.2,382.0,182.6,-13646.7,23.9
$MHEAD_RNG_PITCHd_Wd,3.4,2397,-19.3,-8.333
$D_GRID,123
$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,-97.8,0.0,0.0,0,111,0.00,0.00,-85.40,0.000,2,0.000,0.000,360,2046,3357
$GC,113,-1.60,-97.8,2.1,-5.1,14,150,11.20,2.58,-17.30,0.000,4,0.157,0.067,2377,3448,3814
$GC,401,-1.60,-97.8,18.9,-6.7,58,408,0.00,2.45,0.00,0.000,6,0.000,0.038,2376,2043,3815
$GC,471,-1.60,-97.8,23.4,-6.6,65,475,0.00,2.55,0.00,0.000,4,0.000,0.054,2377,3457,3815
$GC,728,-1.60,-97.8,43.1,-8.0,84,732,0.00,2.47,0.00,0.000,6,0.000,0.039,2377,2041,3816
$GC,930,-1.60,-97.8,59.0,-7.6,100,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2040,3815
$GC,1121,-1.60,-97.8,72.2,-6.8,115,1125,0.00,2.55,0.00,0.000,4,0.000,0.056,2377,3451,3815
$GC,1158,-1.60,-97.8,74.8,-7.0,117,1166,0.00,2.47,0.00,0.000,6,0.000,0.039,2378,2057,3815
$GC,1355,-1.60,-97.8,87.9,-6.1,133,1359,0.00,2.62,0.00,0.000,4,0.000,0.074,2377,639,3815
$STATE,1531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1531,begin apogee
$GC,1538,-0.38,0.0,100.6,8.6,146,1618,1.30,0.00,75.40,0.582,6,0.105,0.000,2639,2445,3415
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1621,1.60,97.8,103.7,0.0,153,1702,2.08,0.00,73.85,0.577,6,0.074,0.000,3078,2446,3016
$GC,1891,1.60,98.2,84.4,8.3,175,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2447,3015
$GC,2081,1.62,111.3,70.4,7.6,190,2097,0.00,2.62,9.52,0.578,4,0.000,0.060,3078,1039,2961
$GC,2176,1.62,111.3,61.9,8.9,197,2184,0.00,2.50,0.00,0.000,6,0.000,0.038,3078,2454,2960
$GC,2373,1.63,124.1,45.6,7.6,213,2386,0.00,0.00,9.60,0.563,6,0.000,0.000,3077,2455,2908
$GC,2574,1.63,124.1,29.2,8.7,229,2578,0.00,2.58,0.00,0.000,4,0.000,0.067,3077,3847,2908
$GC,2619,1.63,124.1,24.4,10.8,232,2627,0.00,2.45,0.00,0.000,6,0.000,0.033,3078,2437,2907
$GC,2822,1.70,174.2,8.3,5.5,259,2866,0.00,2.55,37.25,0.522,4,0.000,0.061,3078,1053,2703
$GC,2906,1.75,218.1,3.2,5.8,272,2932,0.15,2.45,20.42,0.523,2,0.067,0.038,3113,2460,2588
$STATE,2933,end climb,SURFACE_DEPTH_REACHED
$STATE,2933,begin surface coast
$FINISH,-0.1,1.011354
$STATE,2965,end surface coast,CONTROL_FINISHED_OK
$STATE,2965,begin surface
$SM_CCo,2989,123.15,0.504,0,0,1580,450.13
$SM_GC,0.66,0.00,0.00,123.15,0.000,0.000,0.504,362,2044,1580,-10.89,-0.17,450.13
$IRIDIUM_FIX,4722.92,-12249.11,031007,050526
$TT8_MAMPS,0.071331
$HUMID,2002
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,195
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,76.0,999.0
$24V_AH,23.9,8.567
$10V_AH,10.1,5.894
$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,26.800,36.800,226.050,123.150,0.000,77.786,65.025,212.764,49.250,27.850,3772.150,16.168,509.840,1707.100,463.910,526.172,466.806,33.327,765.390,0.000,497.373,0.000,4.063
$DEVICE_MAMPS,157.235,73.632,582.153,503.919,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.350,0.000,0.000,0.000,0.000,0.000,0.000,3800.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6443,281
$CFSIZE,260034560,254177280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,024932,4739.972,-12252.016,15,1.3,32,18.3