version: 66.02
glider: 107
mission: 10
dive: 209
start: 10 7 107 22 13 15
data:
$ID,107
$MISSION,10
$DIVE,209
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,25
$T_MISSION,50
$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,-19536.816
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,220451,4743.038,-12250.840,17,1.3,17,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-53.4
$GPS2,221153,4742.938,-12251.081,12,7.2,31,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.216,0.158
$KALMAN_X,16784.4,-85.7,-6.2,-14146.2,-18.2
$KALMAN_Y,18243.9,692.1,58.8,-12890.7,-45.9
$MHEAD_RNG_PITCHd_Wd,35.5,388,-21.9,-12.000
$D_GRID,161
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.80,-97.8,0.0,0.0,0,125,0.00,0.00,-96.72,0.000,2,0.000,0.000,357,2051,3596
$GC,129,-1.80,-97.8,2.2,-4.3,16,155,10.77,2.55,-7.20,0.000,4,0.151,0.067,2333,3461,3814
$GC,406,-1.80,-97.8,27.5,-8.2,52,410,0.00,2.47,0.00,0.000,6,0.000,0.038,2333,2042,3815
$GC,602,-1.80,-97.8,41.8,-7.3,67,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2040,3816
$GC,794,-1.80,-97.8,55.5,-7.3,82,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2040,3815
$GC,982,-1.80,-97.8,69.8,-7.4,97,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2040,3815
$GC,1171,-1.80,-97.8,84.4,-7.4,112,1175,0.00,2.55,0.00,0.000,4,0.000,0.057,2333,3459,3815
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1250,-0.38,0.0,90.3,8.4,117,1329,1.50,0.00,75.40,0.569,6,0.097,0.000,2642,2441,3414
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,1.80,97.8,92.3,0.0,124,1413,2.20,0.00,73.80,0.561,6,0.067,0.000,3117,2441,3016
$GC,1602,1.85,136.0,69.9,9.8,146,1639,0.00,2.67,28.00,0.554,4,0.000,0.064,3117,3851,2859
$GC,1692,1.86,141.0,60.2,11.7,153,1704,0.00,2.42,3.53,0.588,6,0.000,0.035,3117,2450,2839
$GC,1893,1.89,169.2,39.3,10.3,169,1922,0.10,2.67,20.73,0.542,4,0.076,0.064,3142,3853,2725
$GC,1942,1.90,174.7,33.7,11.7,173,1955,0.00,2.45,4.35,0.564,6,0.000,0.035,3142,2440,2701
$GC,2148,1.92,196.0,11.4,10.8,195,2168,0.00,2.55,14.80,0.528,4,0.000,0.063,3142,1054,2616
$GC,2227,1.98,245.8,3.5,9.1,207,2247,0.00,2.45,14.48,0.525,2,0.000,0.038,3142,2460,2535
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2248,begin surface coast
$FINISH,0.0,1.013427
$STATE,2266,end surface coast,CONTROL_FINISHED_OK
$STATE,2266,begin surface
$SM_CCo,2292,118.07,0.499,0,0,1579,450.13
$SM_GC,0.60,0.00,0.00,118.07,0.000,0.000,0.499,359,2049,1579,-10.90,0.00,450.13
$IRIDIUM_FIX,4726.11,-12246.42,081007,010106
$TT8_MAMPS,0.071331
$HUMID,2004
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,140
$ALTIM_TOP_PING,9.4,9.0
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,23.9,19.537
$10V_AH,10.1,14.813
$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,26.825,25.300,235.075,118.075,0.000,41.052,36.199,193.184,35.500,0.000,2972.000,32.573,408.098,1199.759,450.492,403.677,414.924,33.326,689.274,0.000,361.447,0.000,4.122
$DEVICE_MAMPS,151.099,66.729,587.522,499.317,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.158,0.000,0.000,0.000,0.000,0.000,0.000,2972.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,213
$CFSIZE,260034560,250187776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,225434,4743.072,-12250.825,12,2.4,31,18.3