version: 66.02
glider: 107
mission: 10
dive: 2
start: 9 29 107 23 41 39
data:
$ID,107
$MISSION,10
$DIVE,2
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,30
$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,100
$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,500
$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,-14734.398
$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,2350
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$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
$GPS1,233451,4739.860,-12252.885,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-45.5
$GPS2,234039,4739.921,-12252.856,14,1.8,14,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,-0.222
$KALMAN_X,36.3,36.3,36.3,218.8,75.2
$KALMAN_Y,141.7,141.7,141.7,75.4,293.7
$MHEAD_RNG_PITCHd_Wd,162.0,1015,-24.3,-11.111
$D_GRID,120
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.99,-97.8,0.0,0.0,0,143,0.00,0.00,-115.28,0.000,2,0.000,0.000,366,2347,3375
$GC,145,-1.99,-97.8,2.1,-5.3,19,177,10.90,2.65,-15.07,0.000,4,0.165,0.076,2291,3756,3814
$GC,269,-1.99,-97.8,11.6,-8.5,38,276,0.00,2.42,0.00,0.000,6,0.000,0.033,2291,2344,3815
$GC,341,-1.99,-97.8,18.2,-8.4,49,348,0.00,2.53,0.00,0.000,4,0.000,0.061,2290,951,3815
$GC,473,-1.99,-97.8,30.4,-10.2,61,478,0.00,2.47,0.00,0.000,6,0.000,0.041,2291,2354,3815
$GC,668,-1.99,-97.8,50.1,-10.3,76,672,0.00,2.55,0.00,0.000,4,0.000,0.061,2291,951,3815
$GC,701,-1.99,-97.8,53.5,-10.9,78,705,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,2352,3815
$GC,903,-1.99,-97.8,73.4,-10.1,94,907,0.00,2.55,0.00,0.000,4,0.000,0.063,2290,952,3816
$GC,975,-1.99,-97.8,80.6,-10.1,99,979,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,2348,3815
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1180,-0.38,0.0,100.0,9.2,115,1262,1.75,0.00,74.88,0.582,6,0.104,0.000,2641,2050,3414
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1265,1.99,97.8,102.2,0.0,122,1350,2.38,2.65,72.95,0.574,4,0.069,0.058,3165,3461,3015
$GC,1495,2.02,116.9,82.6,9.7,140,1514,0.00,2.50,13.82,0.574,6,0.000,0.039,3165,2044,2939
$GC,1703,2.03,128.5,62.0,10.2,156,1717,0.00,2.62,8.55,0.578,4,0.000,0.056,3165,3460,2890
$GC,1867,2.03,128.5,44.0,11.3,168,1875,0.00,2.50,0.00,0.000,6,0.000,0.038,3165,2055,2891
$GC,2064,2.04,140.3,24.2,10.2,184,2077,0.00,2.60,8.30,0.557,4,0.000,0.055,3165,3459,2843
$GC,2117,2.04,140.3,18.3,12.1,189,2123,0.00,2.47,0.00,0.000,6,0.000,0.038,3165,2048,2843
$GC,2189,2.05,149.0,10.3,10.4,200,2202,0.00,2.58,6.45,0.555,4,0.000,0.056,3166,3461,2806
$STATE,2273,end climb,SURFACE_DEPTH_REACHED
$STATE,2273,begin surface coast
$FINISH,0.1,1.010871
$STATE,2300,end surface coast,CONTROL_FINISHED_OK
$STATE,2300,begin surface
$SM_CCo,2327,175.38,0.501,0,0,1375,500.17
$SM_GC,0.63,0.00,0.00,175.38,0.000,0.000,0.501,361,2339,1375,-10.90,-0.31,500.17
$IRIDIUM_FIX,4722.92,-12253.53,300907,030326
$TT8_MAMPS,0.074399
$HUMID,1997
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.80
$XPDR_PINGS,144
$ALTIM_TOP_PING,9.7,9.2
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,23.8,0.489
$10V_AH,10.0,0.320
$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,27.550,40.575,184.950,175.375,0.000,0.000,0.000,0.000,36.500,8.300,2465.700,14.737,407.086,1192.142,494.979,420.416,70.060,30.182,765.388,0.000,413.081,0.000,4.124
$DEVICE_MAMPS,164.905,75.933,582.153,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.844,0.000,0.000,0.000,0.000,0.000,0.000,2474.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,217
$CFSIZE,260034560,256696320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,300907,002429,4739.741,-12252.784,14,2.1,33,18.3