version: 66.02
glider: 107
mission: 10
dive: 76
start: 10 2 107 21 56 51
data:
$ID,107
$MISSION,10
$DIVE,76
$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,-16515.91
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,214927,4739.324,-12252.489,14,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.6
$GPS2,215545,4739.399,-12252.364,14,1.3,14,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,-0.135
$KALMAN_X,17367.2,278.0,366.6,-17069.3,128.4
$KALMAN_Y,12194.4,230.9,265.1,-13146.2,127.6
$MHEAD_RNG_PITCHd_Wd,210.5,1560,-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,21,begin dive
$GC,24,-1.60,-97.8,0.0,0.0,0,124,0.00,0.00,-97.38,0.000,2,0.000,0.000,362,2045,3642
$GC,127,-1.60,-97.8,2.2,-2.4,16,152,11.55,2.60,-4.93,0.000,4,0.166,0.067,2377,3451,3814
$GC,304,-1.60,-97.8,19.1,-6.9,43,310,0.00,2.47,0.00,0.000,6,0.000,0.037,2377,2050,3815
$GC,373,-1.60,-97.8,23.5,-6.3,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2049,3815
$GC,563,-1.60,-97.8,36.9,-7.4,65,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2049,3815
$GC,754,-1.60,-97.8,51.0,-7.4,80,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2048,3815
$GC,942,-1.60,-97.8,64.9,-7.0,95,946,0.00,2.55,0.00,0.000,4,0.000,0.055,2377,3453,3815
$GC,993,-1.60,-97.8,68.9,-7.3,98,1000,0.00,2.50,0.00,0.000,6,0.000,0.038,2377,2050,3815
$GC,1189,-1.60,-97.8,84.8,-8.4,114,1193,0.00,2.62,0.00,0.000,4,0.000,0.074,2377,640,3815
$GC,1254,-1.60,-97.8,90.2,-8.7,119,1259,0.00,2.45,0.00,0.000,6,0.000,0.037,2377,2050,3815
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1397,-0.38,0.0,100.4,7.1,130,1479,1.33,0.00,75.62,0.576,6,0.098,0.000,2642,2457,3414
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1482,1.60,97.8,102.7,0.0,137,1567,2.03,2.70,73.60,0.570,4,0.074,0.066,3073,3850,3015
$GC,1585,1.63,121.2,97.1,7.0,145,1609,0.00,2.47,16.95,0.578,6,0.000,0.033,3074,2444,2921
$GC,1806,1.65,141.4,80.5,7.2,163,1831,0.00,2.65,15.25,0.571,4,0.000,0.064,3074,1050,2837
$GC,1870,1.68,160.3,75.9,7.3,168,1890,0.00,2.47,13.98,0.568,6,0.000,0.041,3073,2452,2760
$GC,2077,1.68,160.3,58.8,8.4,184,2081,0.00,2.60,0.00,0.000,4,0.000,0.067,3074,3848,2759
$GC,2108,1.68,160.3,56.0,8.6,186,2116,0.00,2.45,0.00,0.000,6,0.000,0.033,3074,2453,2759
$GC,2305,1.68,160.3,38.5,8.9,202,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2450,2759
$GC,2495,1.68,160.3,20.6,9.8,217,2497,0.10,0.00,0.00,0.000,6,0.071,0.000,3100,2450,2759
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2692,begin surface coast
$FINISH,-0.0,1.014696
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2720,begin surface
$SM_CCo,2744,148.93,0.505,0,0,1580,450.13
$SM_GC,0.63,0.00,0.00,148.93,0.000,0.000,0.505,364,2056,1580,-10.88,0.17,450.13
$IRIDIUM_FIX,4722.92,-12249.11,031007,000050
$TT8_MAMPS,0.071331
$HUMID,2023
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,166
$ALTIM_TOP_PING,9.8,9.6
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,23.8,8.079
$10V_AH,10.1,5.590
$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,27.100,32.000,195.400,148.925,0.000,37.531,35.151,192.606,42.000,264.220,3122.780,14.364,466.892,1552.399,454.155,452.024,373.802,33.331,727.653,0.000,425.644,0.000,4.111
$DEVICE_MAMPS,166.439,73.632,578.318,504.686,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.057,0.000,0.000,0.000,0.000,0.000,0.000,3387.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,250
$CFSIZE,260034560,254332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,224607,4739.351,-12252.515,14,1.3,29,18.3