version: 66.02
glider: 107
mission: 10
dive: 74
start: 10 2 107 19 52 15
data:
$ID,107
$MISSION,10
$DIVE,74
$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,40
$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,-16484.367
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,194526,4739.224,-12252.688,7,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-54.1
$GPS2,195109,4739.306,-12252.521,11,1.8,11,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,-0.130
$KALMAN_X,16698.4,184.8,253.2,-16391.0,238.1
$KALMAN_Y,11673.4,149.9,122.9,-12574.8,199.0
$MHEAD_RNG_PITCHd_Wd,212.2,1298,-19.3,-8.333
$D_GRID,124
$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,-1.60,-97.8,0.0,0.0,0,124,0.00,0.00,-97.22,0.000,2,0.000,0.000,363,2042,3619
$GC,127,-1.60,-97.8,2.1,-2.8,16,151,11.32,0.00,-6.47,0.000,6,0.160,0.000,2374,2042,3814
$GC,218,-1.60,-97.8,8.7,-5.6,30,224,0.00,2.58,0.00,0.000,4,0.000,0.055,2375,3460,3815
$GC,256,-1.60,-97.8,11.0,-6.0,36,263,0.00,2.47,0.00,0.000,6,0.000,0.038,2374,2047,3814
$GC,329,-1.60,-97.8,15.3,-6.1,47,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2044,3815
$GC,400,-1.60,-97.8,19.8,-6.2,58,406,0.00,2.60,0.00,0.000,4,0.000,0.071,2375,647,3815
$GC,465,-1.60,-97.8,24.4,-7.2,64,470,0.00,2.47,0.00,0.000,6,0.000,0.036,2374,2054,3815
$GC,667,-1.60,-97.8,38.4,-6.9,80,672,0.00,2.62,0.00,0.000,4,0.000,0.069,2374,649,3814
$GC,718,-1.60,-97.8,42.2,-7.0,83,726,0.00,2.53,0.00,0.000,6,0.000,0.035,2374,2050,3815
$GC,915,-1.60,-97.8,55.6,-7.3,99,919,0.00,2.62,0.00,0.000,4,0.000,0.070,2375,639,3815
$GC,959,-1.60,-97.8,59.0,-7.6,102,967,0.00,2.53,0.00,0.000,6,0.000,0.036,2375,2053,3815
$GC,1156,-1.60,-97.8,72.8,-7.2,118,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2054,3815
$GC,1345,-1.60,-97.8,86.1,-7.0,133,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2054,3815
$GC,1536,-1.60,-97.8,98.3,-6.2,148,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2054,3815
$STATE,1571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1571,begin apogee
$GC,1575,-0.38,0.0,100.5,6.1,151,1658,1.35,0.00,75.65,0.578,6,0.100,0.000,2644,2447,3415
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1661,1.60,97.8,102.8,0.0,158,1743,2.05,2.75,73.97,0.572,4,0.074,0.067,3077,3859,3015
$GC,1782,1.60,97.8,96.4,8.6,168,1786,0.00,2.50,0.00,0.000,6,0.000,0.035,3077,2423,3016
$GC,1984,1.62,110.9,80.3,7.6,184,2000,0.00,2.75,9.40,0.577,4,0.000,0.066,3077,3854,2962
$GC,2040,1.62,115.4,75.7,8.1,188,2049,0.00,2.50,3.15,0.591,6,0.000,0.034,3077,2442,2944
$GC,2237,1.63,120.9,59.5,8.0,204,2243,0.00,0.00,3.83,0.585,6,0.000,0.000,3077,2440,2922
$GC,2426,1.63,120.9,43.6,8.6,219,2430,0.00,2.55,0.00,0.000,4,0.000,0.063,3077,1052,2922
$GC,2467,1.63,122.2,40.3,8.3,222,2471,0.00,2.47,0.00,0.000,6,0.000,0.041,3077,2453,2922
$GC,2662,1.64,127.4,24.0,8.0,237,2669,0.00,0.00,5.05,0.559,6,0.000,0.000,3077,2455,2895
$GC,2858,1.64,127.4,6.9,8.9,263,2864,0.00,2.60,0.00,0.000,4,0.000,0.068,3076,3851,2894
$STATE,2915,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,0.6,1.022765
$STATE,2942,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,2969,170.80,0.502,0,0,1579,450.13
$SM_GC,0.66,0.00,0.00,170.80,0.000,0.000,0.502,362,2050,1579,-10.89,0.00,450.13
$IRIDIUM_FIX,4719.74,-12251.79,021007,222237
$TT8_MAMPS,0.071331
$HUMID,2017
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,184
$ALTIM_TOP_PING,10.0,9.7
$ALTIM_BOTTOM_PING,75.5,999.0
$24V_AH,23.8,7.766
$10V_AH,10.1,5.441
$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,26.825,42.475,171.050,170.800,0.000,39.728,35.777,158.517,46.500,287.810,3306.190,11.857,523.316,1681.503,481.065,479.571,345.515,33.335,767.763,0.000,457.905,0.000,4.113
$DEVICE_MAMPS,159.536,70.564,590.590,502.385,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.769,0.000,0.000,0.000,0.000,0.000,0.000,3594.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,276
$CFSIZE,260034560,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,204537,4739.246,-12252.606,12,1.7,28,18.3