version: 66.02
glider: 107
mission: 10
dive: 13
start: 9 30 107 8 51 8
data:
$ID,107
$MISSION,10
$DIVE,13
$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,-15041.344
$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,23
$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
$GPS1,084435,4740.030,-12251.612,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-53.8
$GPS2,085003,4740.119,-12251.494,13,1.5,13,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,-0.162
$KALMAN_X,2764.9,780.6,251.8,-1771.9,78.2
$KALMAN_Y,2691.2,823.4,194.8,-2833.8,83.4
$MHEAD_RNG_PITCHd_Wd,204.9,1655,-24.3,-11.111
$D_GRID,119
$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,-97.8,0.0,0.0,0,118,0.00,0.00,-91.30,0.000,2,0.000,0.000,363,2053,3525
$GC,121,-1.99,-97.8,2.0,-1.9,15,146,11.45,0.00,-9.52,0.000,6,0.173,0.000,2295,2053,3814
$GC,212,-1.99,-97.8,8.6,-6.9,29,218,0.00,2.58,0.00,0.000,4,0.000,0.056,2294,3455,3815
$GC,277,-1.99,-97.8,13.6,-8.5,39,284,0.00,2.47,0.00,0.000,6,0.000,0.038,2296,2052,3814
$GC,350,-1.99,-97.8,20.1,-9.2,50,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2050,3815
$GC,540,-1.99,-97.8,37.9,-9.2,65,544,0.00,2.67,0.00,0.000,4,0.000,0.072,2294,646,3816
$GC,577,-1.99,-97.8,41.9,-10.8,67,585,0.00,2.50,0.00,0.000,6,0.000,0.037,2293,2050,3815
$GC,774,-1.99,-97.8,61.5,-9.9,83,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2051,3816
$GC,964,-1.99,-97.8,80.0,-10.1,98,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2051,3815
$GC,1153,-1.99,-97.8,98.0,-9.3,113,1158,0.00,2.60,0.00,0.000,4,0.000,0.060,2294,3460,3816
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1177,-0.38,0.0,100.1,9.8,114,1258,1.80,0.00,75.45,0.583,6,0.114,0.000,2645,2435,3414
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1260,1.99,97.8,102.5,0.0,121,1346,2.47,2.75,73.90,0.573,4,0.074,0.071,3165,3850,3015
$GC,1364,2.04,139.5,96.3,7.9,129,1400,0.00,2.47,31.08,0.571,6,0.000,0.033,3165,2452,2846
$GC,1597,2.04,139.5,71.4,11.2,148,1601,0.00,2.65,0.00,0.000,4,0.000,0.069,3165,3854,2844
$GC,1716,2.04,139.5,56.8,11.9,157,1720,0.00,2.47,0.00,0.000,6,0.000,0.034,3165,2440,2844
$GC,1918,2.04,139.5,34.1,11.5,173,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2436,2844
$GC,2110,2.04,139.5,12.5,11.1,193,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2436,2844
$GC,2181,2.04,139.5,4.1,12.7,204,2188,0.00,2.67,0.00,0.000,4,0.000,0.068,3165,3854,2844
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$FINISH,0.3,1.020700
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2226,begin surface
$SM_CCo,2254,161.25,0.505,0,0,1580,450.13
$SM_GC,0.66,0.00,0.00,161.25,0.000,0.000,0.505,366,2056,1580,-10.87,0.17,450.13
$IRIDIUM_FIX,4726.11,-12313.90,300907,111113
$TT8_MAMPS,0.071331
$HUMID,2026
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,19.90
$XPDR_PINGS,132
$ALTIM_TOP_PING,9.7,9.5
$ALTIM_BOTTOM_PING,76.1,999.0
$24V_AH,23.2,1.518
$10V_AH,10.0,1.017
$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,28.375,30.900,180.425,161.250,0.000,37.702,34.690,152.971,33.500,217.120,2661.880,13.745,397.499,1214.822,450.226,388.633,320.612,33.327,691.598,0.000,363.302,0.000,4.930
$DEVICE_MAMPS,173.342,72.098,582.920,505.453,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.419,0.000,0.000,0.000,0.000,0.000,0.000,2879.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,211
$CFSIZE,260034560,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,093209,4740.040,-12251.649,12,2.0,12,18.3