version: 66.02
glider: 107
mission: 10
dive: 94
start: 10 3 107 15 30 28
data:
$ID,107
$MISSION,10
$DIVE,94
$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,-16877.518
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,152353,4742.526,-12250.914,11,4.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-54.6
$GPS2,152923,4742.531,-12250.919,14,2.5,33,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,-0.094
$KALMAN_X,18306.1,-251.8,-17.7,-15290.3,-75.1
$KALMAN_Y,13662.8,-192.7,85.7,-8207.8,62.6
$MHEAD_RNG_PITCHd_Wd,208.5,194,-27.6,-7.917
$D_GRID,145
$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,-2.18,-44.5,0.0,0.0,0,117,0.00,0.00,-91.28,0.000,2,0.000,0.000,364,2062,3503
$GC,120,-2.20,-68.4,2.3,-5.1,15,145,10.50,2.62,-6.32,0.000,4,0.160,0.079,2243,643,3695
$GC,204,-2.20,-68.4,11.7,-12.6,28,211,0.00,2.45,0.00,0.000,6,0.000,0.037,2244,2058,3695
$GC,276,-2.20,-68.4,20.1,-11.2,39,280,0.00,2.50,0.00,0.000,4,0.000,0.056,2243,3451,3696
$GC,320,-2.20,-68.4,24.5,-9.2,42,328,0.00,2.47,0.00,0.000,6,0.000,0.038,2243,2052,3696
$GC,517,-2.21,-70.7,39.3,-7.6,58,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2049,3696
$GC,707,-2.22,-79.9,53.2,-6.8,73,713,0.00,2.60,-0.45,0.000,4,0.000,0.081,2243,643,3743
$GC,758,-2.22,-79.9,57.4,-8.8,76,766,0.00,2.45,0.00,0.000,6,0.000,0.037,2243,2045,3743
$GC,954,-2.22,-79.9,73.7,-8.7,92,958,0.00,2.53,0.00,0.000,4,0.000,0.058,2243,3451,3743
$GC,980,-2.22,-79.9,75.9,-8.3,94,984,0.00,2.47,0.00,0.000,6,0.000,0.040,2243,2044,3743
$GC,1182,-2.22,-79.9,94.2,-8.5,110,1186,0.00,2.60,0.00,0.000,4,0.000,0.073,2244,636,3744
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1201,-0.38,0.0,95.2,8.1,111,1269,1.98,0.00,62.20,0.573,6,0.110,0.000,2638,2455,3415
$STATE,1269,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1271,2.22,79.9,97.0,0.0,117,1345,2.65,2.67,60.17,0.568,4,0.071,0.066,3215,3851,3088
$GC,1397,2.22,79.9,86.3,10.9,127,1401,0.00,2.45,0.00,0.000,6,0.000,0.035,3215,2440,3088
$GC,1599,2.22,79.9,63.6,11.4,143,1603,0.00,2.62,0.00,0.000,4,0.000,0.064,3215,3858,3088
$GC,1651,2.22,79.9,57.4,12.1,147,1655,0.00,2.45,0.00,0.000,6,0.000,0.034,3215,2436,3088
$GC,1853,2.22,79.9,34.6,11.2,163,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2434,3088
$GC,2045,2.22,82.2,15.2,7.6,182,2052,0.00,2.60,0.00,0.000,4,0.000,0.062,3215,3855,3088
$GC,2177,2.24,94.7,6.7,6.4,202,2196,0.00,2.42,10.93,0.539,6,0.000,0.033,3215,2442,3027
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2254,begin surface coast
$FINISH,0.1,1.005248
$STATE,2281,end surface coast,CONTROL_FINISHED_OK
$STATE,2281,begin surface
$SM_CCo,2306,178.75,0.503,0,0,1579,450.13
$SM_GC,0.58,0.00,0.00,178.75,0.000,0.000,0.503,361,2061,1579,-10.89,0.34,450.13
$IRIDIUM_FIX,4726.11,-12255.26,031007,181809
$TT8_MAMPS,0.072865
$HUMID,2017
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,148
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.3,9.761
$10V_AH,10.1,6.899
$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,27.850,41.825,133.300,178.750,0.000,39.405,36.232,127.187,37.500,33.210,2914.790,34.781,417.382,1264.548,436.524,418.637,306.272,33.333,681.365,0.000,374.962,0.000,5.905
$DEVICE_MAMPS,160.303,81.302,572.949,503.152,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.495,0.000,0.000,0.000,0.000,0.000,0.000,2948.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,218
$CFSIZE,260034560,253739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,161307,4742.419,-12251.116,35,1.2,41,18.3