version: 66.02
glider: 107
mission: 10
dive: 230
start: 10 8 107 17 19 9
data:
$ID,107
$MISSION,10
$DIVE,230
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,-20038.795
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,170203,4743.110,-12250.664,11,1.6,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-53.9
$GPS2,171745,4743.069,-12250.723,12,1.6,12,18.3
$SPEED_LIMITS,0.229,0.239
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.228,-0.023
$KALMAN_X,14957.6,-305.8,-27.8,-11628.7,16.7
$KALMAN_Y,16856.7,-285.1,-49.7,-10176.2,-22.7
$MHEAD_RNG_PITCHd_Wd,246.0,123,-22.6,-10.667
$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,-1.86,-97.8,0.0,0.0,0,120,0.00,0.00,-90.55,0.000,2,0.000,0.000,361,2049,3462
$GC,126,-1.86,-97.8,2.1,-5.3,15,157,10.68,2.55,-12.68,0.000,4,0.151,0.067,2321,3459,3814
$GC,407,-1.86,-97.8,26.4,-8.3,52,414,0.00,2.47,0.00,0.000,6,0.000,0.038,2321,2053,3815
$GC,604,-1.86,-97.8,40.0,-7.1,68,608,0.00,2.53,0.00,0.000,4,0.000,0.054,2321,3459,3814
$GC,774,-1.86,-97.8,53.1,-7.5,80,781,0.00,2.47,0.00,0.000,6,0.000,0.038,2321,2050,3815
$GC,971,-1.86,-97.8,67.3,-7.3,96,975,0.00,2.53,0.00,0.000,4,0.000,0.054,2321,3454,3815
$GC,1030,-1.86,-97.8,72.1,-8.3,100,1034,0.00,2.45,0.00,0.000,6,0.000,0.039,2320,2049,3815
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1122,begin apogee
$GC,1129,-0.38,0.0,80.3,8.5,107,1209,1.55,0.00,75.03,0.558,6,0.097,0.000,2640,2459,3414
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1213,1.86,97.8,82.7,0.0,114,1299,2.25,2.62,73.22,0.555,4,0.064,0.064,3137,3844,3015
$GC,1338,1.86,97.8,73.8,10.8,124,1343,0.00,2.45,0.00,0.000,6,0.000,0.035,3137,2431,3014
$GC,1534,1.87,105.4,54.3,10.2,139,1547,0.00,2.65,5.25,0.568,4,0.000,0.063,3137,3856,2985
$GC,1586,1.87,105.4,48.8,10.9,143,1591,0.00,2.45,0.00,0.000,6,0.000,0.035,3137,2435,2985
$GC,1782,1.89,121.1,28.8,9.6,158,1799,0.00,2.62,11.45,0.538,4,0.000,0.063,3137,3848,2920
$GC,1868,1.89,121.1,19.5,11.2,164,1874,0.00,2.42,0.00,0.000,6,0.000,0.034,3137,2440,2920
$GC,1940,1.94,162.8,13.0,7.9,175,1977,0.00,2.62,30.95,0.516,4,0.000,0.063,3137,3848,2750
$GC,2037,1.96,181.0,4.3,9.4,190,2056,0.00,2.40,12.90,0.521,6,0.000,0.034,3137,2449,2676
$STATE,2060,end climb,SURFACE_DEPTH_REACHED
$STATE,2060,begin surface coast
$FINISH,0.3,1.022248
$STATE,2081,end surface coast,CONTROL_FINISHED_OK
$STATE,2082,begin surface
$SM_CCo,2109,253.32,0.492,0,0,679,671.14
$SM_GC,0.48,0.00,0.00,253.32,0.000,0.000,0.492,361,2040,679,-10.90,-0.28,671.14
$IRIDIUM_FIX,4726.11,-12250.84,081007,212104
$TT8_MAMPS,0.070564
$HUMID,1979
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,19.90
$XPDR_PINGS,131
$ALTIM_TOP_PING,9.4,9.4
$ALTIM_BOTTOM_PING,55.5,999.0
$24V_AH,23.9,21.463
$10V_AH,10.1,16.291
$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,26.675,36.675,208.800,253.325,0.000,199.127,375.842,0.000,33.250,0.000,3338.000,12.703,393.920,1276.781,563.664,390.554,725.862,33.331,816.100,0.000,373.879,0.000,4.110
$DEVICE_MAMPS,151.099,66.729,567.580,491.647,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.060,0.000,0.000,0.000,0.000,0.000,0.000,3338.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6468,197
$CFSIZE,260034560,249556992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,175937,4743.060,-12250.985,13,1.9,29,18.3