version: 66.02
glider: 107
mission: 10
dive: 134
start: 10 5 107 7 57 21
data:
$ID,107
$MISSION,10
$DIVE,134
$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,40
$T_MISSION,80
$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,25
$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,-17808.623
$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,33
$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
$GPS1,074153,4742.378,-12250.992,11,2.6,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-53.7
$GPS2,075617,4742.322,-12251.052,12,2.7,31,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,0.166
$KALMAN_X,16457.4,-259.3,-173.9,-13440.1,34.3
$KALMAN_Y,13463.4,-477.0,-198.8,-7822.9,58.7
$MHEAD_RNG_PITCHd_Wd,329.9,344,-22.2,-7.917
$D_GRID,140
$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,-1.79,-68.1,0.0,0.0,0,120,0.00,0.00,-91.18,0.000,2,0.000,0.000,362,2064,3489
$GC,124,-1.83,-97.8,2.1,-4.7,15,148,10.75,0.00,-11.07,0.000,6,0.153,0.000,2327,2064,3814
$GC,215,-1.83,-97.8,10.9,-10.7,29,221,0.00,2.50,0.00,0.000,4,0.000,0.056,2327,3455,3815
$GC,267,-1.83,-97.8,15.6,-8.3,37,274,0.00,2.42,0.00,0.000,6,0.000,0.038,2327,2060,3815
$GC,339,-1.83,-97.8,21.2,-7.9,47,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2058,3815
$GC,529,-1.83,-97.8,35.3,-7.7,62,533,0.00,2.50,0.00,0.000,4,0.000,0.055,2327,3450,3815
$GC,601,-1.83,-97.8,41.3,-8.4,67,605,0.00,2.45,0.00,0.000,6,0.000,0.038,2327,2044,3815
$GC,803,-1.83,-97.8,56.5,-7.4,83,807,0.00,2.58,0.00,0.000,4,0.000,0.071,2327,646,3815
$GC,849,-1.83,-97.8,60.1,-8.2,86,852,0.00,2.42,0.00,0.000,6,0.000,0.037,2327,2051,3815
$GC,1050,-1.83,-97.8,76.2,-8.1,102,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2052,3815
$GC,1243,-1.83,-97.8,91.2,-7.9,117,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2052,3816
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1306,-0.38,0.0,95.9,7.5,122,1388,1.55,0.00,75.53,0.572,6,0.100,0.000,2641,2450,3414
$STATE,1389,end apogee,CONTROL_FINISHED_OK
$STATE,1389,begin climb
$GC,1391,1.83,97.8,97.7,0.0,129,1472,2.28,0.00,74.00,0.564,6,0.071,0.000,3126,2450,3015
$GC,1661,1.83,97.8,75.5,9.4,151,1665,0.00,2.58,0.00,0.000,4,0.000,0.067,3126,3850,3014
$GC,1693,1.83,97.8,72.3,9.7,153,1698,0.00,2.42,0.00,0.000,6,0.000,0.034,3126,2434,3014
$GC,1895,1.83,97.8,53.8,9.1,169,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2432,3014
$GC,2086,1.83,97.8,36.0,9.6,184,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2432,3014
$GC,2275,1.83,97.8,19.1,9.0,199,2281,0.00,2.60,0.00,0.000,4,0.000,0.064,3126,3851,3014
$GC,2498,1.85,115.0,2.2,6.6,233,2506,0.00,2.40,3.12,0.565,2,0.000,0.033,3126,2445,2997
$STATE,2507,end climb,SURFACE_DEPTH_REACHED
$STATE,2507,begin surface coast
$FINISH,0.2,1.022107
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2532,begin surface
$SM_CCo,2557,174.55,0.499,0,0,1580,450.13
$SM_GC,0.62,0.00,0.00,174.55,0.000,0.000,0.499,364,2058,1580,-10.88,0.25,450.13
$IRIDIUM_FIX,4726.11,-12246.42,051007,111154
$TT8_MAMPS,0.073632
$HUMID,2015
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,172
$ALTIM_TOP_PING,9.4,9.1
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.9,13.428
$10V_AH,10.1,10.000
$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,26.700,26.250,152.650,174.550,0.000,117.931,123.053,355.795,43.500,0.000,3717.000,32.605,449.076,1574.681,440.964,426.217,732.246,33.334,680.959,0.000,384.661,0.000,4.109
$DEVICE_MAMPS,152.633,71.331,572.182,498.550,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.309,0.000,0.000,0.000,0.000,0.000,0.000,3717.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,238
$CFSIZE,260034560,252477440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,084408,4742.507,-12251.205,40,1.2,40,18.3