version: 66.02
glider: 107
mission: 10
dive: 14
start: 9 30 107 9 38 26
data:
$ID,107
$MISSION,10
$DIVE,14
$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,-15057.313
$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,20
$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
$GPS1,093209,4740.040,-12251.649,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-54.6
$GPS2,093721,4740.121,-12251.558,15,2.0,15,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.142,-0.171
$KALMAN_X,2966.1,769.0,240.2,-2026.1,52.0
$KALMAN_Y,2957.4,813.4,201.3,-3090.9,73.2
$MHEAD_RNG_PITCHd_Wd,201.5,1605,-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,-97.8,0.0,0.0,0,124,0.00,0.00,-97.45,0.000,2,0.000,0.000,366,2056,3675
$GC,127,-1.99,-97.8,2.3,-2.7,16,146,11.30,0.00,-4.18,0.000,6,0.173,0.000,2293,2056,3814
$GC,213,-1.99,-97.8,9.8,-7.6,29,219,0.00,2.55,0.00,0.000,4,0.000,0.056,2293,3453,3815
$GC,271,-1.99,-97.8,14.8,-8.9,38,278,0.00,2.50,0.00,0.000,6,0.000,0.038,2293,2038,3814
$GC,343,-1.99,-97.8,21.3,-9.2,48,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2037,3815
$GC,533,-1.99,-97.8,40.0,-10.2,63,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2037,3816
$GC,722,-1.99,-97.8,59.8,-10.6,78,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2037,3816
$GC,911,-1.99,-97.8,79.2,-10.0,93,915,0.00,2.60,0.00,0.000,4,0.000,0.058,2293,3451,3815
$GC,969,-1.99,-97.8,85.7,-11.3,97,974,0.00,2.50,0.00,0.000,6,0.000,0.040,2293,2049,3815
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1112,-0.38,0.0,100.1,10.1,108,1194,1.80,0.00,75.50,0.582,6,0.110,0.000,2644,2450,3414
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,1.99,97.8,103.0,0.0,115,1278,2.45,0.00,74.15,0.575,6,0.071,0.000,3163,2451,3016
$GC,1467,2.04,136.0,83.8,8.2,137,1503,0.00,2.70,28.12,0.567,4,0.000,0.071,3163,3848,2859
$GC,1622,2.04,136.0,67.8,11.4,149,1626,0.00,2.55,0.00,0.000,6,0.000,0.033,3163,2439,2859
$GC,1824,2.06,150.8,47.6,10.0,165,1837,0.00,0.00,10.90,0.556,6,0.000,0.000,3163,2436,2800
$GC,2025,2.07,158.7,25.8,10.5,181,2037,0.00,0.00,5.93,0.557,6,0.000,0.000,3163,2436,2767
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2231,begin surface coast
$FINISH,0.9,1.021280
$STATE,2247,end surface coast,CONTROL_FINISHED_OK
$STATE,2247,begin surface
$SM_CCo,2271,153.65,0.503,0,0,1579,450.13
$SM_GC,0.65,0.00,0.00,153.65,0.000,0.000,0.503,363,2052,1579,-10.88,0.08,450.13
$IRIDIUM_FIX,4722.92,-12249.11,300907,121216
$TT8_MAMPS,0.073632
$HUMID,2014
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,131
$ALTIM_TOP_PING,9.3,999.0
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.2,1.651
$10V_AH,10.0,1.077
$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,28.325,16.825,194.600,153.650,0.000,39.991,32.183,138.872,33.250,217.120,2639.880,15.342,390.145,1247.434,454.159,374.023,299.970,33.327,677.071,0.000,348.924,0.000,4.062
$DEVICE_MAMPS,173.342,70.564,582.153,503.152,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.834,0.000,0.000,0.000,0.000,0.000,0.000,2857.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6477,210
$CFSIZE,260034560,256376832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,101938,4739.994,-12251.816,13,1.6,13,18.3