version: 66.02
glider: 107
mission: 10
dive: 15
start: 9 30 107 10 26 0
data:
$ID,107
$MISSION,10
$DIVE,15
$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,-15089.652
$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,22
$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
$GPS1,101938,4739.994,-12251.816,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-54.6
$GPS2,102456,4740.064,-12251.743,14,1.5,31,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,-0.190
$KALMAN_X,3045.0,743.4,217.9,-2286.0,-17.0
$KALMAN_Y,3156.8,793.5,203.5,-3376.9,41.7
$MHEAD_RNG_PITCHd_Wd,192.8,1377,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.99,-97.8,0.0,0.0,0,116,0.00,0.00,-91.28,0.000,2,0.000,0.000,365,2053,3530
$GC,120,-1.99,-97.8,2.1,-2.1,15,145,11.30,0.00,-9.27,0.000,6,0.174,0.000,2292,2053,3814
$GC,211,-1.99,-97.8,8.4,-6.2,29,217,0.00,2.58,0.00,0.000,4,0.000,0.056,2292,3463,3815
$GC,342,-1.99,-97.8,21.2,-10.4,49,346,0.00,2.50,0.00,0.000,6,0.000,0.038,2292,2046,3815
$GC,544,-1.99,-97.8,42.4,-10.3,65,549,0.00,2.65,0.00,0.000,4,0.000,0.074,2292,641,3815
$GC,715,-1.99,-97.8,59.7,-10.0,77,722,0.00,2.60,0.00,0.000,6,0.000,0.037,2292,2051,3816
$GC,911,-1.99,-97.8,77.9,-9.5,93,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2052,3816
$GC,1101,-1.99,-97.8,96.5,-9.8,108,1106,0.00,2.60,0.00,0.000,4,0.000,0.059,2292,3458,3816
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1143,-0.38,0.0,100.3,9.7,110,1223,1.77,0.00,75.60,0.585,6,0.113,0.000,2644,2435,3414
$STATE,1224,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1226,1.99,97.8,101.7,0.0,117,1306,2.42,0.00,73.88,0.576,6,0.073,0.000,3160,2435,3015
$GC,1494,2.01,115.4,77.6,9.8,139,1512,0.00,2.70,12.95,0.570,4,0.000,0.069,3159,3854,2943
$GC,1657,2.01,115.4,57.2,13.2,151,1662,0.00,2.45,0.00,0.000,6,0.000,0.033,3160,2446,2943
$GC,1859,2.04,135.4,34.9,9.6,167,1879,0.00,2.65,14.68,0.544,4,0.000,0.064,3160,1053,2862
$GC,1931,2.04,135.9,27.5,11.1,172,1936,0.00,2.50,0.00,0.000,6,0.000,0.040,3160,2465,2862
$GC,2133,2.04,136.3,3.6,11.1,197,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2466,2862
$STATE,2149,end climb,SURFACE_DEPTH_REACHED
$STATE,2149,begin surface coast
$FINISH,0.1,1.021578
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2191,158.77,0.501,0,0,1580,450.13
$SM_GC,0.52,0.00,0.00,158.77,0.000,0.000,0.501,364,2047,1580,-10.88,-0.11,450.13
$IRIDIUM_FIX,4722.92,-12251.79,300907,131352
$TT8_MAMPS,0.071331
$HUMID,2011
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,128
$ALTIM_TOP_PING,9.5,9.2
$ALTIM_BOTTOM_PING,75.6,999.0
$24V_AH,23.5,1.781
$10V_AH,10.0,1.135
$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,28.000,25.800,177.100,158.775,0.000,38.746,31.338,130.752,32.500,211.220,2560.780,31.709,387.313,1165.551,442.522,408.964,291.621,33.321,673.304,0.000,366.860,0.000,4.108
$DEVICE_MAMPS,174.109,73.632,585.221,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.557,0.000,0.000,0.000,0.000,0.000,0.000,2772.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,202
$CFSIZE,260034560,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,110625,4739.938,-12251.928,31,1.2,41,18.3