version: 66.02
glider: 107
mission: 10
dive: 87
start: 10 3 107 8 53 39
data:
$ID,107
$MISSION,10
$DIVE,87
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,-16717.574
$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,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
$GPS1,083223,4741.424,-12251.468,12,3.9,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-55.0
$GPS2,085235,4741.346,-12251.500,16,4.1,35,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,0.128
$KALMAN_X,18738.9,163.1,-66.5,-16809.9,-14.0
$KALMAN_Y,13618.9,211.9,-96.9,-10576.1,-110.3
$MHEAD_RNG_PITCHd_Wd,2.9,227,-27.6,-7.917
$D_GRID,114
$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,-2.18,-44.5,0.0,0.0,0,118,0.00,0.00,-91.40,0.000,2,0.000,0.000,360,2060,3485
$GC,121,-2.22,-77.1,2.2,-4.0,15,147,10.52,2.53,-8.45,0.000,4,0.161,0.065,2245,3460,3729
$GC,297,-2.22,-77.1,21.6,-9.9,41,305,0.00,2.50,0.00,0.000,6,0.000,0.037,2245,2044,3730
$GC,494,-2.22,-83.1,35.4,-7.2,57,499,0.00,2.55,-0.32,0.000,4,0.000,0.067,2245,3452,3759
$GC,544,-2.22,-83.1,39.7,-8.4,60,552,0.00,2.47,0.00,0.000,6,0.000,0.038,2245,2050,3759
$GC,741,-2.22,-83.1,56.5,-9.0,76,745,0.00,2.60,0.00,0.000,4,0.000,0.071,2245,637,3759
$GC,918,-2.22,-83.1,73.3,-9.8,89,926,0.00,2.47,0.00,0.000,6,0.000,0.037,2245,2051,3759
$GC,1115,-2.22,-83.1,90.1,-8.9,105,1119,0.00,2.53,0.00,0.000,4,0.000,0.058,2245,3454,3759
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1177,-0.38,0.0,95.4,8.4,109,1246,1.98,0.00,65.07,0.576,6,0.114,0.000,2644,2438,3415
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1249,2.22,83.1,96.7,0.0,115,1322,2.60,2.58,62.42,0.570,4,0.071,0.062,3213,1054,3077
$GC,1361,2.22,83.1,87.4,11.0,124,1366,0.00,2.47,0.00,0.000,6,0.000,0.039,3213,2448,3075
$GC,1563,2.22,83.1,65.1,10.6,140,1568,0.00,2.60,0.00,0.000,4,0.000,0.067,3213,3855,3075
$GC,1700,2.22,83.1,48.9,11.5,150,1708,0.00,2.45,0.00,0.000,6,0.000,0.033,3213,2447,3075
$GC,1897,2.22,83.1,28.0,10.4,166,1901,0.00,2.53,0.00,0.000,4,0.000,0.061,3213,1053,3075
$GC,1915,2.22,83.1,26.0,10.7,167,1923,0.00,2.45,0.00,0.000,6,0.000,0.037,3213,2448,3075
$GC,2119,2.24,97.0,8.1,6.3,194,2138,0.00,2.62,10.40,0.538,4,0.000,0.065,3213,3845,3018
$GC,2191,2.24,100.8,2.7,7.5,205,2198,0.00,2.40,2.35,0.574,6,0.000,0.033,3213,2444,3004
$STATE,2202,end climb,SURFACE_DEPTH_REACHED
$STATE,2202,begin surface coast
$FINISH,-0.1,1.021842
$STATE,2230,end surface coast,CONTROL_FINISHED_OK
$STATE,2230,begin surface
$SM_CCo,2255,176.18,0.501,0,0,1579,450.13
$SM_GC,0.67,0.00,0.00,176.18,0.000,0.000,0.501,361,2058,1579,-10.90,0.23,450.13
$IRIDIUM_FIX,4722.92,-12249.11,031007,121206
$TT8_MAMPS,0.071331
$HUMID,1999
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,145
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.9,9.175
$10V_AH,10.1,6.403
$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,27.825,40.175,140.250,176.175,0.000,197.434,215.232,410.560,36.750,20.900,3755.100,36.036,406.951,1439.433,442.661,438.639,943.691,33.325,693.927,0.000,393.332,0.000,4.061
$DEVICE_MAMPS,161.070,71.331,576.017,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.511,0.000,0.000,0.000,0.000,0.000,0.000,3776.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6476,211
$CFSIZE,260034560,253956096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,093507,4741.455,-12251.443,7,1.9,23,18.3