version: 66.02
glider: 107
mission: 10
dive: 239
start: 10 8 107 23 23 41
data:
$ID,107
$MISSION,10
$DIVE,239
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,10
$T_MISSION,25
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-20207.402
$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,27
$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
$GPS1,231209,4742.951,-12250.988,9,1.8,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-45.2
$GPS2,232217,4742.906,-12251.040,12,2.9,31,18.3
$SPEED_LIMITS,0.260,0.270
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,0.187
$KALMAN_X,14271.7,-433.1,-170.6,-11068.7,-2.0
$KALMAN_Y,16312.3,-386.8,-159.9,-9719.9,-2.4
$MHEAD_RNG_PITCHd_Wd,27.9,384,-27.3,-15.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.23,-107.5,0.0,0.0,0,163,0.00,0.00,-133.35,0.000,2,0.000,0.000,360,2039,3503
$GC,166,-2.23,-107.5,2.0,-4.6,22,191,10.20,0.00,-12.65,0.000,6,0.149,0.000,2242,2040,3855
$GC,260,-2.23,-107.5,10.5,-10.9,36,266,0.00,2.55,0.00,0.000,4,0.000,0.055,2242,3454,3857
$GC,299,-2.23,-107.5,15.3,-11.7,42,305,0.00,2.45,0.00,0.000,6,0.000,0.038,2243,2044,3858
$GC,376,-2.23,-107.5,23.9,-10.2,51,381,0.00,2.58,0.00,0.000,4,0.000,0.068,2242,640,3857
$GC,507,-2.23,-107.5,36.5,-9.6,60,514,0.00,2.45,0.00,0.000,6,0.000,0.037,2242,2054,3857
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,600,begin apogee
$GC,607,-0.38,0.0,45.2,9.0,68,694,1.95,0.00,82.43,0.526,6,0.105,0.000,2638,2457,3414
$STATE,695,end apogee,CONTROL_FINISHED_OK
$STATE,695,begin climb
$GC,698,2.23,107.5,47.1,0.0,75,788,2.65,0.00,80.45,0.521,6,0.069,0.000,3216,2457,2975
$GC,979,2.28,145.8,16.4,11.9,100,1015,0.00,2.62,27.95,0.509,4,0.000,0.057,3216,1049,2820
$GC,1075,2.31,170.0,5.4,13.0,115,1100,0.00,2.45,17.85,0.506,6,0.000,0.037,3216,2463,2721
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,-0.0,1.022242
$STATE,1118,end surface coast,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$SM_CCo,1147,137.65,0.486,0,0,1579,450.13
$SM_GC,0.57,0.00,0.00,137.65,0.000,0.000,0.486,357,2046,1579,-10.92,-0.14,450.13
$IRIDIUM_FIX,4726.11,-12250.84,091007,030317
$TT8_MAMPS,0.075933
$HUMID,1991
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.90
$XPDR_PINGS,50
$ALTIM_TOP_PING,9.6,999.0
$ALTIM_BOTTOM_PING,27.0,999.0
$24V_AH,24.0,22.221
$10V_AH,10.1,16.771
$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,27.275,16.525,208.675,137.650,0.000,76.189,119.629,202.820,13.000,0.000,2135.000,32.677,235.228,453.282,474.977,252.057,525.173,33.353,646.569,0.000,213.601,0.000,4.044
$DEVICE_MAMPS,148.798,68.263,526.162,485.511,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,77.892,0.000,0.000,0.000,0.000,0.000,0.000,2135.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3323,122
$CFSIZE,260034560,249344000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,234607,4742.950,-12250.988,15,1.8,25,18.3