version: 66.02
glider: 107
mission: 10
dive: 130
start: 10 5 107 3 3 19
data:
$ID,107
$MISSION,10
$DIVE,130
$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,-17707.588
$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,28
$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
$GPS1,023927,4742.501,-12251.090,10,2.0,11,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-52.3
$GPS2,030156,4742.334,-12251.278,11,1.5,16,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,0.206
$KALMAN_X,17105.0,-136.9,-176.0,-14485.8,-147.1
$KALMAN_Y,14374.4,-244.6,-284.2,-8854.6,-189.5
$MHEAD_RNG_PITCHd_Wd,20.2,413,-10.9,-7.037
$D_GRID,141
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.96,-97.8,0.0,0.0,0,120,0.00,0.00,-91.15,0.000,2,0.000,0.000,358,2041,3474
$GC,124,-0.96,-97.8,2.2,-3.9,15,154,11.73,0.00,-11.48,0.000,6,0.148,0.000,2519,2041,3815
$GC,219,-0.96,-97.8,8.0,-5.4,30,226,0.00,2.55,0.00,0.000,4,0.000,0.055,2519,3453,3816
$GC,313,-0.96,-97.8,13.0,-5.4,44,319,0.00,2.42,0.00,0.000,6,0.000,0.037,2519,2053,3816
$GC,385,-0.96,-97.8,16.4,-5.0,55,391,0.00,2.58,0.00,0.000,4,0.000,0.069,2519,648,3816
$GC,450,-0.96,-97.8,19.4,-3.8,65,457,0.00,2.40,0.00,0.000,6,0.000,0.035,2519,2052,3817
$GC,520,-0.96,-97.8,22.4,-4.4,72,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2053,3817
$GC,710,-0.96,-97.8,30.3,-3.9,87,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2053,3817
$GC,901,-0.96,-97.8,38.0,-4.2,102,905,0.00,2.50,0.00,0.000,4,0.000,0.058,2519,3451,3817
$GC,960,-0.96,-97.8,40.5,-4.5,106,964,0.00,2.45,0.00,0.000,6,0.000,0.038,2519,2041,3816
$GC,1155,-0.96,-97.8,47.9,-3.7,121,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2039,3817
$GC,1348,-0.96,-97.8,55.0,-3.8,136,1352,0.00,2.53,0.00,0.000,4,0.000,0.055,2519,3447,3816
$GC,1412,-0.96,-97.8,57.8,-4.1,140,1419,0.00,2.45,0.00,0.000,6,0.000,0.038,2519,2053,3817
$GC,1608,-0.96,-97.8,65.3,-3.9,156,1612,0.00,2.50,0.00,0.000,4,0.000,0.056,2520,3446,3817
$GC,1687,-0.96,-97.8,68.4,-4.0,162,1692,0.00,2.45,0.00,0.000,6,0.000,0.039,2519,2039,3817
$GC,1883,-0.96,-97.8,75.6,-3.6,177,1887,0.00,2.53,0.00,0.000,4,0.000,0.056,2519,3451,3817
$GC,1941,-0.96,-97.8,77.8,-4.1,181,1948,0.00,2.47,0.00,0.000,6,0.000,0.040,2519,2049,3817
$GC,2137,-0.96,-97.8,84.9,-3.8,197,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2047,3817
$GC,2328,-0.96,-97.8,92.0,-3.7,212,2332,0.00,2.53,0.00,0.000,4,0.000,0.058,2520,3448,3817
$GC,2401,-0.96,-97.8,94.7,-4.0,217,2405,0.00,2.45,0.00,0.000,6,0.000,0.041,2519,2044,3817
$STATE,2417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2417,begin apogee
$GC,2423,-0.38,0.0,95.3,3.3,218,2504,0.60,0.00,75.47,0.573,6,0.081,0.000,2644,2454,3415
$STATE,2505,end apogee,CONTROL_FINISHED_OK
$STATE,2505,begin climb
$GC,2508,0.96,97.8,96.1,0.0,225,2589,1.38,0.00,73.93,0.563,6,0.067,0.000,2940,2454,3015
$GC,2778,0.99,124.1,80.5,6.4,247,2803,0.00,2.62,19.40,0.562,4,0.000,0.062,2940,1040,2907
$GC,2948,1.05,172.1,70.2,5.9,260,2989,0.00,2.47,35.55,0.552,6,0.000,0.041,2940,2459,2713
$GC,3186,1.06,184.6,54.7,6.7,279,3200,0.00,2.65,8.77,0.562,4,0.000,0.067,2940,3851,2662
$GC,3307,1.09,202.7,46.9,6.6,288,3326,0.12,2.45,13.45,0.554,6,0.067,0.035,2972,2432,2588
$GC,3514,1.09,202.7,31.6,7.7,304,3518,0.00,2.53,0.00,0.000,4,0.000,0.064,2972,1047,2586
$GC,3639,1.09,202.7,22.5,7.5,313,3646,0.00,2.45,0.00,0.000,6,0.000,0.039,2972,2453,2586
$GC,3843,1.18,278.7,9.8,5.2,341,3905,0.00,2.67,55.88,0.515,4,0.000,0.067,2972,3851,2279
$GC,3937,1.21,305.3,4.1,6.4,356,3963,0.00,2.42,19.42,0.518,6,0.000,0.034,2972,2447,2170
$STATE,3974,end climb,SURFACE_DEPTH_REACHED
$STATE,3974,begin surface coast
$FINISH,0.0,1.002627
$STATE,4008,end surface coast,CONTROL_FINISHED_OK
$STATE,4008,begin surface
$SM_CCo,4031,75.32,0.498,0,0,1579,450.13
$SM_GC,0.67,0.00,0.00,75.32,0.000,0.000,0.498,363,2049,1579,-10.89,-0.03,450.13
$IRIDIUM_FIX,4729.30,-12245.46,051007,060651
$TT8_MAMPS,0.071331
$HUMID,2032
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.80
$XPDR_PINGS,269
$ALTIM_TOP_PING,9.8,999.0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.9,13.042
$10V_AH,10.1,9.656
$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,25.250,56.525,301.875,75.325,0.000,145.824,152.816,719.473,67.750,0.000,5600.000,16.908,686.243,2446.360,487.447,677.650,1200.527,33.327,886.640,0.000,646.972,0.000,4.069
$DEVICE_MAMPS,148.031,69.030,572.949,497.783,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,245.101,0.000,0.000,0.000,0.000,0.000,0.000,5600.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9568,367
$CFSIZE,260034560,252575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,041307,4742.442,-12251.094,40,2.0,46,18.3