version: 66.02
glider: 107
mission: 10
dive: 83
start: 10 3 107 4 57 40
data:
$ID,107
$MISSION,10
$DIVE,83
$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,-16639.1
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,045030,4740.671,-12251.797,8,2.1,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-52.3
$GPS2,045635,4740.696,-12251.792,13,2.4,32,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,11_XS
$TGT_LATLONG,4740.927,-12251.586
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,0.166
$KALMAN_X,18657.2,391.0,-121.0,-17267.5,-34.0
$KALMAN_Y,13776.0,408.6,-29.4,-12207.8,22.7
$MHEAD_RNG_PITCHd_Wd,17.3,498,-19.3,-8.333
$D_GRID,99
$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,-1.60,-97.8,0.0,0.0,0,118,0.00,0.00,-91.28,0.000,2,0.000,0.000,363,2048,3482
$GC,121,-1.60,-97.8,2.2,-4.7,15,152,11.30,2.62,-10.82,0.000,4,0.162,0.081,2377,649,3815
$GC,345,-1.60,-97.8,24.6,-6.7,45,349,0.00,2.42,0.00,0.000,6,0.000,0.036,2376,2056,3816
$GC,539,-1.60,-97.8,38.0,-6.9,60,543,0.00,2.50,0.00,0.000,4,0.000,0.055,2376,3451,3816
$GC,663,-1.60,-97.8,47.2,-7.5,69,671,0.00,2.47,0.00,0.000,6,0.000,0.038,2376,2052,3816
$GC,860,-1.60,-97.8,60.2,-6.0,85,864,0.00,2.55,0.00,0.000,4,0.000,0.056,2376,3461,3816
$GC,932,-1.60,-97.8,65.2,-7.0,90,936,0.00,2.47,0.00,0.000,6,0.000,0.039,2376,2045,3816
$GC,1134,-1.60,-97.8,78.9,-6.9,106,1138,0.00,2.60,0.00,0.000,4,0.000,0.073,2376,642,3816
$GC,1318,-1.60,-97.8,92.8,-7.1,119,1325,0.00,2.47,0.00,0.000,6,0.000,0.038,2376,2048,3816
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1411,begin apogee
$GC,1416,-0.38,0.0,99.4,6.8,127,1498,1.33,0.00,75.57,0.582,6,0.102,0.000,2643,2461,3415
$STATE,1499,end apogee,CONTROL_FINISHED_OK
$STATE,1499,begin climb
$GC,1501,1.60,97.8,101.8,0.0,134,1584,2.05,2.62,73.82,0.577,4,0.073,0.067,3076,3855,3016
$GC,1623,1.61,106.2,95.7,7.9,144,1636,0.00,2.45,5.88,0.597,6,0.000,0.035,3076,2444,2982
$GC,1824,1.62,112.1,79.3,8.0,160,1837,0.00,2.62,4.12,0.596,4,0.000,0.064,3076,1045,2957
$GC,1947,1.62,112.1,68.9,9.3,169,1955,0.00,2.50,0.00,0.000,6,0.000,0.041,3077,2455,2957
$GC,2144,1.63,118.8,52.4,7.9,185,2157,0.00,2.62,4.82,0.581,4,0.000,0.067,3077,3848,2930
$GC,2289,1.63,121.7,39.7,8.2,196,2296,0.00,2.42,1.95,0.607,6,0.000,0.034,3076,2441,2918
$GC,2484,1.63,122.6,23.6,8.3,211,2489,0.00,2.60,0.00,0.000,4,0.000,0.064,3077,3853,2918
$GC,2663,1.69,166.4,9.8,5.8,234,2706,0.00,2.42,33.28,0.526,6,0.000,0.033,3076,2441,2736
$GC,2771,1.74,207.5,3.9,6.0,251,2797,0.15,0.00,23.42,0.523,2,0.063,0.000,3115,2440,2604
$STATE,2798,end climb,SURFACE_DEPTH_REACHED
$STATE,2798,begin surface coast
$FINISH,0.0,1.022038
$STATE,2823,end surface coast,CONTROL_FINISHED_OK
$STATE,2823,begin surface
$SM_CCo,2848,125.12,0.505,0,0,1580,450.13
$SM_GC,0.57,0.00,0.00,125.12,0.000,0.000,0.505,360,2058,1580,-10.90,0.23,450.13
$IRIDIUM_FIX,4722.92,-12249.11,031007,070730
$TT8_MAMPS,0.072865
$HUMID,2009
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,182
$ALTIM_TOP_PING,9.8,10.0
$ALTIM_BOTTOM_PING,74.5,999.0
$24V_AH,23.9,8.828
$10V_AH,10.1,6.118
$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,26.875,41.825,222.875,125.125,0.000,41.182,34.429,162.010,46.000,26.990,3444.010,33.101,481.345,1532.990,467.861,535.868,347.001,33.329,771.242,0.000,491.130,0.000,4.115
$DEVICE_MAMPS,161.837,80.535,607.464,505.453,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.270,0.000,0.000,0.000,0.000,0.000,0.000,3471.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,259
$CFSIZE,260034560,254083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,054817,4740.934,-12251.598,10,3.1,29,18.3