version: 66.02
glider: 107
mission: 10
dive: 7
start: 9 30 107 3 58 32
data:
$ID,107
$MISSION,10
$DIVE,7
$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,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,-14911.042
$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,2150
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,22
$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
$GPS1,035221,4739.620,-12252.130,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.0
$GPS2,035729,4739.688,-12252.010,12,2.1,31,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,-0.110
$KALMAN_X,1017.5,480.8,166.3,-283.5,135.6
$KALMAN_Y,845.4,544.4,225.2,-1537.7,20.7
$MHEAD_RNG_PITCHd_Wd,222.0,638,-24.3,-11.111
$D_GRID,123
$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,21,begin dive
$GC,24,-1.99,-97.8,0.0,0.0,0,112,0.00,0.00,-85.45,0.000,2,0.000,0.000,365,2147,3366
$GC,114,-1.99,-97.8,2.0,-4.6,14,145,11.30,0.00,-16.00,0.000,6,0.177,0.000,2293,2147,3814
$GC,211,-1.99,-97.8,9.6,-8.4,29,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2146,3815
$GC,282,-1.99,-97.8,16.0,-9.2,40,288,0.00,2.60,0.00,0.000,4,0.000,0.067,2292,736,3815
$GC,393,-1.99,-97.8,28.0,-10.6,51,400,0.00,2.47,0.00,0.000,6,0.000,0.038,2293,2148,3816
$GC,589,-1.99,-97.8,45.8,-8.9,67,593,0.00,2.62,0.00,0.000,4,0.000,0.067,2293,735,3816
$GC,715,-1.99,-97.8,58.0,-9.4,76,719,0.00,2.50,0.00,0.000,6,0.000,0.040,2292,2156,3816
$GC,910,-1.99,-97.8,76.9,-9.7,91,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2156,3815
$GC,1100,-1.99,-97.8,94.2,-8.7,106,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2156,3816
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1165,-0.38,0.0,100.0,9.3,111,1247,1.77,0.00,75.32,0.585,6,0.113,0.000,2640,2453,3414
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1250,1.99,97.8,102.0,0.0,118,1336,2.45,2.70,73.50,0.576,4,0.079,0.072,3164,3848,3015
$GC,1380,2.01,116.2,93.9,9.7,128,1401,0.00,2.47,13.20,0.578,6,0.000,0.033,3164,2446,2940
$GC,1589,2.04,134.5,73.5,9.7,145,1608,0.00,2.67,13.77,0.570,4,0.000,0.069,3164,3854,2865
$GC,1646,2.04,134.5,67.0,11.5,149,1651,0.00,2.45,0.00,0.000,6,0.000,0.033,3164,2446,2865
$GC,1849,2.04,135.0,44.9,11.1,165,1853,0.00,2.65,0.00,0.000,4,0.000,0.068,3163,3851,2865
$GC,1874,2.04,135.0,41.8,11.6,167,1878,0.00,2.47,0.00,0.000,6,0.000,0.033,3164,2446,2865
$GC,2076,2.04,138.7,20.4,10.8,183,2081,0.00,0.00,2.85,0.588,6,0.000,0.000,3164,2443,2849
$STATE,2246,end climb,SURFACE_DEPTH_REACHED
$STATE,2246,begin surface coast
$FINISH,0.2,1.021750
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2286,161.73,0.506,0,0,1580,450.13
$SM_GC,0.67,0.00,0.00,161.73,0.000,0.000,0.506,364,2149,1580,-10.88,-0.03,450.13
$IRIDIUM_FIX,4722.92,-12253.53,300907,070753
$TT8_MAMPS,0.072098
$HUMID,2027
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,143
$ALTIM_TOP_PING,10.0,9.5
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.8,0.885
$10V_AH,10.0,0.647
$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,28.200,26.675,178.650,161.725,0.000,40.699,37.132,113.619,36.250,8.300,2848.700,32.647,401.000,1236.032,444.812,414.006,286.938,33.322,690.166,0.000,376.939,0.000,4.109
$DEVICE_MAMPS,177.177,72.098,587.522,506.220,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.937,0.000,0.000,0.000,0.000,0.000,0.000,2857.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,210
$CFSIZE,260034560,256573440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,044041,4739.719,-12252.053,37,1.3,47,18.3