version: 66.02
glider: 107
mission: 10
dive: 129
start: 10 5 107 1 32 29
data:
$ID,107
$MISSION,10
$DIVE,129
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$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,15
$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,-17690.051
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,011247,4742.588,-12251.047,12,7.3,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-52.3
$GPS2,013107,4742.444,-12251.241,38,1.6,43,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,0.192
$KALMAN_X,17474.3,-138.1,-71.0,-14914.1,-150.1
$KALMAN_Y,14822.2,-175.9,-144.2,-9309.8,-272.6
$MHEAD_RNG_PITCHd_Wd,24.6,243,-10.9,-7.037
$D_GRID,143
$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,-0.96,-97.8,0.0,0.0,0,118,0.00,0.00,-91.10,0.000,2,0.000,0.000,360,2036,3462
$GC,122,-0.96,-97.8,2.2,-3.9,15,152,11.68,0.00,-12.02,0.000,6,0.147,0.000,2516,2035,3815
$GC,218,-0.96,-97.8,7.6,-5.3,30,224,0.00,2.55,0.00,0.000,4,0.000,0.054,2516,3451,3815
$GC,336,-0.96,-97.8,14.2,-5.6,48,343,0.00,2.42,0.00,0.000,6,0.000,0.037,2516,2054,3816
$GC,408,-0.96,-97.8,17.0,-3.6,59,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2053,3816
$GC,481,-0.96,-97.8,19.4,-3.3,70,487,0.00,2.53,0.00,0.000,4,0.000,0.054,2516,3460,3816
$GC,527,-0.96,-97.8,21.1,-3.7,75,533,0.00,2.45,0.00,0.000,6,0.000,0.036,2516,2044,3816
$GC,722,-0.96,-97.8,28.2,-3.6,91,726,0.00,2.58,0.00,0.000,4,0.000,0.070,2516,640,3816
$GC,839,-0.96,-97.8,32.7,-3.7,99,846,0.00,2.45,0.00,0.000,6,0.000,0.035,2516,2050,3816
$GC,1036,-0.96,-97.8,40.2,-3.9,115,1040,0.00,2.53,0.00,0.000,4,0.000,0.057,2516,3458,3816
$GC,1113,-0.96,-97.8,43.5,-4.4,120,1121,0.00,2.47,0.00,0.000,6,0.000,0.038,2516,2053,3816
$GC,1310,-0.96,-97.8,51.3,-4.1,136,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2051,3818
$GC,1500,-0.96,-97.8,59.3,-4.3,151,1504,0.00,2.53,0.00,0.000,4,0.000,0.057,2516,3455,3816
$GC,1578,-0.96,-97.8,63.0,-4.8,156,1585,0.00,2.47,0.00,0.000,6,0.000,0.039,2517,2052,3816
$GC,1774,-0.96,-97.8,72.0,-4.7,172,1778,0.00,2.53,0.00,0.000,4,0.000,0.057,2516,3454,3816
$GC,1833,-0.96,-97.8,75.0,-5.1,176,1837,0.00,2.45,0.00,0.000,6,0.000,0.040,2516,2049,3816
$GC,2028,-0.96,-97.8,84.3,-4.8,191,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2047,3818
$GC,2219,-0.96,-97.8,92.8,-3.7,206,2223,0.00,2.53,0.00,0.000,4,0.000,0.058,2516,3448,3816
$STATE,2268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2268,begin apogee
$GC,2274,-0.38,0.0,95.1,4.7,209,2353,0.60,0.00,75.55,0.571,6,0.085,0.000,2643,2430,3414
$STATE,2354,end apogee,CONTROL_FINISHED_OK
$STATE,2355,begin climb
$GC,2357,0.96,97.8,96.5,0.0,216,2437,1.40,0.00,73.97,0.565,6,0.071,0.000,2940,2430,3016
$GC,2626,1.04,162.8,84.6,5.5,238,2681,0.00,2.58,48.53,0.559,4,0.000,0.065,2940,1047,2750
$GC,2740,1.07,189.2,77.7,6.4,246,2765,0.10,2.45,19.40,0.559,6,0.080,0.041,2965,2448,2643
$GC,2954,1.07,189.2,62.1,7.5,263,2958,0.00,2.55,0.00,0.000,4,0.000,0.061,2965,1052,2642
$GC,3052,1.07,189.2,54.7,7.6,270,3056,0.00,2.47,0.00,0.000,6,0.000,0.041,2965,2452,2642
$GC,3254,1.07,189.2,39.5,7.6,286,3258,0.00,2.55,0.00,0.000,4,0.000,0.059,2965,1049,2641
$GC,3351,1.07,189.2,32.1,7.1,293,3359,0.00,2.47,0.00,0.000,6,0.000,0.038,2965,2456,2642
$GC,3551,1.07,189.2,17.4,7.1,311,3557,0.00,2.55,0.00,0.000,4,0.000,0.058,2965,1046,2642
$GC,3683,1.12,227.4,8.8,6.1,331,3720,0.00,2.45,28.12,0.519,6,0.000,0.039,2965,2459,2487
$GC,3785,1.21,305.3,3.5,5.2,347,3817,0.12,0.00,29.25,0.515,2,0.071,0.000,2996,2459,2324
$STATE,3818,end climb,SURFACE_DEPTH_REACHED
$STATE,3818,begin surface coast
$FINISH,0.0,1.011179
$STATE,3857,end surface coast,CONTROL_FINISHED_OK
$STATE,3858,begin surface
$SM_CCo,3881,91.22,0.501,0,0,1580,450.13
$SM_GC,0.61,0.00,0.00,91.22,0.000,0.000,0.501,358,2042,1580,-10.91,-0.23,450.13
$IRIDIUM_FIX,4726.11,-12242.00,051007,050522
$TT8_MAMPS,0.070564
$HUMID,2013
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,258
$ALTIM_TOP_PING,9.5,9.4
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.9,12.910
$10V_AH,10.1,9.538
$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,25.425,55.050,274.825,91.225,0.000,118.109,118.912,583.654,65.000,0.000,5181.000,43.517,667.394,2290.503,490.386,681.528,984.438,33.333,878.228,0.000,629.755,0.000,5.212
$DEVICE_MAMPS,147.264,69.797,571.415,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,239.031,0.000,0.000,0.000,0.000,0.000,0.000,5181.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9576,358
$CFSIZE,260034560,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,023927,4742.501,-12251.090,10,2.0,11,18.3