version: 66.02
glider: 107
mission: 10
dive: 210
start: 10 7 107 23 2 40
data:
$ID,107
$MISSION,10
$DIVE,210
$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,-19552.879
$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,21
$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
$GPS1,225434,4743.072,-12250.825,12,2.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-52.7
$GPS2,230115,4743.084,-12250.816,15,1.6,15,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.228
$KALMAN_X,16793.9,-97.1,-3.2,-13817.9,8.9
$KALMAN_Y,18308.3,647.8,55.1,-12639.2,-81.3
$MHEAD_RNG_PITCHd_Wd,314.3,64,-22.7,-12.000
$D_GRID,164
$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,-1.87,-97.8,0.0,0.0,0,126,0.00,0.00,-96.70,0.000,2,0.000,0.000,360,2048,3595
$GC,130,-1.87,-97.8,2.3,-5.5,16,156,10.70,2.62,-7.00,0.000,4,0.152,0.081,2318,633,3814
$GC,394,-1.87,-97.8,29.6,-8.9,49,398,0.00,2.45,0.00,0.000,6,0.000,0.037,2318,2049,3815
$GC,589,-1.87,-97.8,44.4,-7.5,64,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2049,3815
$GC,780,-1.87,-97.8,58.2,-7.3,79,784,0.00,2.53,0.00,0.000,4,0.000,0.058,2318,3457,3815
$GC,835,-1.87,-97.8,62.4,-7.9,83,839,0.00,2.47,0.00,0.000,6,0.000,0.040,2319,2038,3815
$GC,1030,-1.87,-97.8,77.9,-7.9,98,1035,0.00,2.55,0.00,0.000,4,0.000,0.072,2318,649,3815
$GC,1105,-1.87,-97.8,84.1,-8.6,103,1109,0.00,2.42,0.00,0.000,6,0.000,0.038,2318,2051,3815
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1190,-0.38,0.0,90.8,7.9,109,1271,1.60,0.00,75.28,0.568,6,0.102,0.000,2641,2451,3414
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1275,1.87,97.8,92.9,0.0,116,1357,2.30,2.67,73.53,0.559,4,0.071,0.065,3135,3852,3015
$GC,1396,1.92,141.2,85.1,9.2,126,1434,0.00,2.45,32.03,0.562,6,0.000,0.035,3135,2439,2839
$GC,1622,1.96,166.8,62.4,10.4,144,1646,0.00,0.00,19.30,0.550,6,0.000,0.000,3135,2437,2734
$GC,1835,1.96,168.0,38.4,11.9,161,1840,0.00,2.60,0.00,0.000,4,0.000,0.064,3135,3851,2733
$GC,1886,1.96,168.0,32.1,12.3,164,1894,0.00,2.45,0.00,0.000,6,0.000,0.034,3135,2447,2733
$GC,2087,2.03,229.3,11.9,8.1,186,2142,0.15,2.67,45.55,0.516,4,0.068,0.064,3175,3854,2480
$GC,2157,2.03,229.3,4.1,12.6,197,2163,0.00,2.42,0.00,0.000,6,0.000,0.034,3174,2451,2479
$STATE,2174,end climb,SURFACE_DEPTH_REACHED
$STATE,2174,begin surface coast
$FINISH,0.2,1.022321
$STATE,2188,end surface coast,CONTROL_FINISHED_OK
$STATE,2189,begin surface
$SM_CCo,2216,113.57,0.496,0,0,1580,450.13
$SM_GC,0.72,0.00,0.00,113.57,0.000,0.000,0.496,360,2054,1580,-10.90,0.11,450.13
$IRIDIUM_FIX,4726.11,-12253.53,081007,020202
$TT8_MAMPS,0.074399
$HUMID,2009
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,133
$ALTIM_TOP_PING,9.6,9.4
$ALTIM_BOTTOM_PING,65.8,999.0
$24V_AH,23.9,19.615
$10V_AH,10.1,14.875
$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,27.175,31.725,245.675,113.575,0.000,40.340,46.018,183.627,33.750,0.000,2888.000,15.432,395.839,1130.099,450.220,388.289,413.755,33.323,700.879,0.000,363.665,0.000,4.122
$DEVICE_MAMPS,151.866,80.535,567.580,496.249,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.268,0.000,0.000,0.000,0.000,0.000,0.000,2888.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,202
$CFSIZE,260034560,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,234214,4743.222,-12251.072,8,2.0,8,18.3