version: 66.02
glider: 107
mission: 10
dive: 91
start: 10 3 107 12 46 9
data:
$ID,107
$MISSION,10
$DIVE,91
$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,-16813.371
$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,23
$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
$GPS1,123537,4742.018,-12251.340,15,2.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-53.4
$GPS2,124505,4742.013,-12251.360,14,2.6,33,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,0.171
$KALMAN_X,18459.1,-121.0,64.3,-16202.1,-100.9
$KALMAN_Y,13464.2,-104.8,-43.9,-8928.7,-19.0
$MHEAD_RNG_PITCHd_Wd,13.4,985,-18.4,-7.917
$D_GRID,134
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.54,-97.8,0.0,0.0,0,119,0.00,0.00,-91.35,0.000,2,0.000,0.000,364,2051,3494
$GC,122,-1.54,-97.8,2.2,-4.4,15,153,11.35,2.62,-11.00,0.000,4,0.161,0.079,2394,646,3814
$GC,403,-1.54,-97.8,25.7,-6.8,52,410,0.00,2.45,0.00,0.000,6,0.000,0.036,2394,2049,3815
$GC,599,-1.54,-97.8,38.4,-6.6,68,604,0.00,2.58,0.00,0.000,4,0.000,0.067,2394,645,3815
$GC,665,-1.54,-97.8,42.9,-6.8,73,669,0.00,2.42,0.00,0.000,6,0.000,0.037,2394,2048,3815
$GC,867,-1.54,-97.8,56.5,-6.8,89,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2049,3815
$GC,1057,-1.54,-97.8,69.0,-6.6,104,1062,0.00,2.60,0.00,0.000,4,0.000,0.070,2394,640,3815
$GC,1148,-1.54,-97.8,75.4,-6.8,110,1155,0.00,2.47,0.00,0.000,6,0.000,0.037,2394,2052,3816
$GC,1344,-1.54,-97.8,88.1,-6.2,126,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2054,3816
$STATE,1456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1456,begin apogee
$GC,1460,-0.38,0.0,95.2,6.2,135,1543,1.23,0.00,75.43,0.574,6,0.097,0.000,2642,2451,3414
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1546,1.54,97.8,96.7,0.0,142,1627,2.00,0.00,74.03,0.566,6,0.074,0.000,3065,2452,3015
$GC,1816,1.54,97.8,78.1,8.0,164,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2452,3014
$GC,2006,1.54,104.4,63.9,7.6,179,2012,0.00,0.00,4.38,0.581,6,0.000,0.000,3065,2452,2989
$GC,2194,1.54,104.4,48.8,8.1,194,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2453,2988
$GC,2385,1.55,105.1,33.5,7.9,209,2389,0.00,2.58,0.00,0.000,4,0.000,0.068,3065,3850,2988
$GC,2443,1.55,105.1,28.5,8.6,213,2447,0.00,2.42,0.00,0.000,6,0.000,0.034,3065,2440,2988
$GC,2643,1.57,121.5,13.5,7.0,235,2662,0.00,2.65,12.40,0.539,4,0.000,0.064,3066,3858,2918
$GC,2681,1.60,148.2,11.0,6.5,241,2710,0.00,2.42,19.92,0.528,6,0.000,0.033,3066,2448,2808
$GC,2776,1.63,177.5,5.1,6.3,255,2802,0.00,2.67,21.05,0.527,4,0.000,0.063,3065,3850,2690
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.3,1.022081
$STATE,2847,end surface coast,CONTROL_FINISHED_OK
$STATE,2847,begin surface
$SM_CCo,2873,138.62,0.501,0,0,1579,450.13
$SM_GC,0.63,0.00,0.00,138.62,0.000,0.000,0.501,360,2059,1579,-10.90,0.28,450.13
$IRIDIUM_FIX,4722.92,-12250.84,031007,161626
$TT8_MAMPS,0.072865
$HUMID,2008
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,188
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.9,9.527
$10V_AH,10.1,6.705
$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,26.525,31.825,207.200,138.625,0.000,78.644,77.105,214.377,47.500,27.000,3700.000,34.255,481.219,1692.703,461.024,485.739,485.493,33.339,733.892,0.000,439.245,0.000,4.125
$DEVICE_MAMPS,161.070,79.001,581.386,500.851,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.439,0.000,0.000,0.000,0.000,0.000,0.000,3727.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6442,266
$CFSIZE,260034560,253825024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,133708,4742.271,-12251.282,8,1.7,13,18.3