version: 66.02
glider: 107
mission: 10
dive: 255
start: 10 9 107 9 32 38
data:
$ID,107
$MISSION,10
$DIVE,255
$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,35
$T_MISSION,70
$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,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,-20551.857
$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,24
$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
$GPS1,091957,4742.974,-12251.006,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-47.2
$GPS2,093135,4742.949,-12251.039,11,3.6,30,18.3
$SPEED_LIMITS,0.184,0.215
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.079
$KALMAN_X,13252.9,-641.1,-136.2,-9874.5,61.1
$KALMAN_Y,15529.7,-538.0,-104.9,-8764.6,85.8
$MHEAD_RNG_PITCHd_Wd,46.3,334,-22.3,-8.571
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-76.7,0.0,0.0,0,165,0.00,0.00,-133.52,0.000,2,0.000,0.000,359,2057,3476
$GC,169,-1.85,-107.5,2.0,-4.7,22,200,10.70,2.60,-13.82,0.000,4,0.151,0.078,2322,642,3853
$GC,235,-1.85,-107.5,7.1,-10.1,32,241,0.00,2.45,0.00,0.000,6,0.000,0.036,2323,2062,3854
$GC,307,-1.85,-107.5,14.1,-8.7,43,313,0.00,2.60,0.00,0.000,4,0.000,0.065,2323,643,3854
$GC,359,-1.85,-107.5,19.2,-10.3,51,366,0.00,2.42,0.00,0.000,6,0.000,0.036,2323,2052,3855
$GC,436,-1.85,-107.5,25.6,-8.4,58,440,0.00,2.50,0.00,0.000,4,0.000,0.055,2322,3451,3854
$GC,487,-1.85,-107.5,30.0,-8.2,61,494,0.00,2.45,0.00,0.000,6,0.000,0.038,2323,2042,3855
$GC,684,-1.85,-107.5,45.4,-7.7,77,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2041,3856
$GC,875,-1.85,-107.5,59.6,-7.5,92,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2040,3854
$GC,1064,-1.85,-107.5,73.8,-7.9,107,1069,0.00,2.53,0.00,0.000,4,0.000,0.058,2323,3452,3854
$GC,1124,-1.85,-107.5,78.7,-7.9,111,1128,0.00,2.45,0.00,0.000,6,0.000,0.039,2323,2047,3854
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1281,begin apogee
$GC,1288,-0.38,0.0,90.7,7.5,123,1378,1.52,0.00,82.70,0.566,6,0.095,0.000,2639,2457,3414
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1382,1.85,107.5,92.6,0.0,131,1468,2.25,0.00,80.88,0.559,6,0.064,0.000,3128,2457,2976
$GC,1652,1.85,107.5,69.9,9.7,153,1656,0.00,2.58,0.00,0.000,4,0.000,0.066,3129,3856,2975
$GC,1737,1.85,107.5,60.7,11.2,159,1742,0.00,2.45,0.00,0.000,6,0.000,0.034,3129,2437,2974
$GC,1933,1.85,107.5,41.2,10.2,174,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2434,2974
$GC,2124,1.85,107.5,23.3,8.8,189,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2434,2974
$GC,2319,1.87,124.6,7.0,7.3,215,2337,0.00,2.62,12.43,0.528,4,0.000,0.063,3128,3853,2905
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2390,begin surface coast
$FINISH,-0.1,1.002419
$STATE,2415,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2446,161.38,0.493,0,0,1579,450.13
$SM_GC,0.58,0.00,0.00,161.38,0.000,0.000,0.493,362,2051,1579,-10.89,0.03,450.13
$IRIDIUM_FIX,4729.30,-12257.00,091007,131320
$TT8_MAMPS,0.072098
$HUMID,2014
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,154
$ALTIM_TOP_PING,10.0,999.0
$ALTIM_BOTTOM_PING,65.3,999.0
$24V_AH,23.9,23.576
$10V_AH,10.1,17.634
$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,26.575,31.575,176.000,161.375,0.000,80.053,121.529,275.613,39.000,0.000,3481.000,31.606,415.392,1363.407,486.523,420.083,645.065,33.320,736.757,0.000,378.774,0.000,4.061
$DEVICE_MAMPS,151.099,78.234,566.046,493.181,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.538,0.000,0.000,0.000,0.000,0.000,0.000,3481.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6464,230
$CFSIZE,260034560,248913920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,101656,4743.092,-12250.755,13,1.9,13,18.3