version: 66.02
glider: 107
mission: 10
dive: 220
start: 10 8 107 7 56 15
data:
$ID,107
$MISSION,10
$DIVE,220
$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,671.14081
$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,-19788.877
$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,20
$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
$GPS1,073902,4743.165,-12250.896,13,1.7,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-54.6
$GPS2,075453,4743.110,-12250.997,13,2.2,32,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.246,-0.075
$KALMAN_X,15852.8,-248.8,-149.2,-12799.3,-45.3
$KALMAN_Y,17551.4,-129.7,-129.3,-10868.2,-34.4
$MHEAD_RNG_PITCHd_Wd,88.6,251,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.87,-97.8,0.0,0.0,0,120,0.00,0.00,-90.60,0.000,2,0.000,0.000,359,2061,3477
$GC,126,-1.87,-97.8,2.1,-4.8,15,157,10.70,2.53,-12.18,0.000,4,0.152,0.066,2320,3458,3814
$GC,303,-1.87,-97.8,18.8,-10.3,42,309,0.00,2.45,0.00,0.000,6,0.000,0.038,2320,2045,3815
$GC,379,-1.87,-97.8,25.7,-8.4,49,383,0.00,2.58,0.00,0.000,4,0.000,0.069,2320,640,3815
$GC,549,-1.87,-97.8,39.7,-8.3,61,556,0.00,2.47,0.00,0.000,6,0.000,0.037,2320,2053,3815
$GC,746,-1.87,-97.8,55.0,-7.7,77,750,0.00,2.60,0.00,0.000,4,0.000,0.067,2321,641,3815
$GC,805,-1.87,-97.8,59.8,-8.0,81,809,0.00,2.45,0.00,0.000,6,0.000,0.037,2320,2056,3815
$GC,1000,-1.87,-97.8,74.4,-7.4,96,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2057,3815
$GC,1193,-1.87,-97.8,88.8,-7.9,111,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2057,3815
$STATE,1212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1212,begin apogee
$GC,1218,-0.38,0.0,90.7,8.0,113,1300,1.60,0.00,75.35,0.563,6,0.099,0.000,2645,2457,3414
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1303,1.87,97.8,92.4,0.0,120,1384,2.25,0.00,73.95,0.555,6,0.068,0.000,3133,2458,3016
$GC,1573,1.91,133.8,69.9,9.7,142,1609,0.00,2.65,26.48,0.548,4,0.000,0.064,3133,3851,2868
$GC,1655,1.93,145.6,61.1,11.3,148,1669,0.00,2.45,8.48,0.557,6,0.000,0.034,3133,2445,2821
$GC,1857,1.94,154.7,38.8,11.4,164,1869,0.00,0.00,6.90,0.552,6,0.000,0.000,3133,2443,2782
$GC,2060,1.98,184.2,17.0,10.1,182,2091,0.12,2.60,21.35,0.519,4,0.067,0.061,3164,1055,2664
$GC,2170,1.98,186.9,5.1,11.8,199,2177,0.00,2.45,1.70,0.584,6,0.000,0.039,3164,2461,2653
$STATE,2201,end climb,SURFACE_DEPTH_REACHED
$STATE,2201,begin surface coast
$FINISH,0.0,1.010589
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2224,begin surface
$SM_CCo,2250,251.95,0.491,0,0,679,671.14
$SM_GC,0.59,0.00,0.00,251.95,0.000,0.000,0.491,359,2042,679,-10.91,-0.23,671.14
$IRIDIUM_FIX,4726.11,-12250.84,081007,111152
$TT8_MAMPS,0.072098
$HUMID,1996
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.90
$XPDR_PINGS,141
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,65.0,999.0
$24V_AH,23.9,20.513
$10V_AH,10.1,15.565
$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,26.975,26.675,214.200,251.950,0.000,194.412,375.842,0.000,35.750,7.840,3465.160,33.535,402.639,1412.220,575.019,393.258,713.895,33.319,811.712,0.000,357.627,0.000,4.061
$DEVICE_MAMPS,151.866,69.030,584.454,490.880,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.001,0.000,0.000,0.000,0.000,0.000,0.000,3473.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,207
$CFSIZE,260034560,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,083905,4743.035,-12250.713,11,3.2,30,18.3