version: 66.02
glider: 107
mission: 10
dive: 104
start: 10 4 107 0 21 50
data:
$ID,107
$MISSION,10
$DIVE,104
$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,671.14081
$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,-17069.439
$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,28
$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
$GPS1,235829,4742.423,-12250.873,13,2.1,32,18.3
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-53.5
$GPS2,002045,4742.474,-12250.795,13,1.3,13,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.174,0.004
$KALMAN_X,18440.1,-19.3,31.7,-15551.0,76.1
$KALMAN_Y,14280.1,97.4,-60.1,-9075.8,54.9
$MHEAD_RNG_PITCHd_Wd,252.9,349,-21.6,-7.917
$D_GRID,146
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.75,-72.1,0.0,0.0,0,118,0.00,0.00,-90.07,0.000,2,0.000,0.000,363,2053,3426
$GC,121,-1.78,-97.8,2.0,-4.3,15,153,10.90,2.60,-13.82,0.000,4,0.156,0.078,2340,640,3813
$GC,403,-1.78,-97.8,26.8,-7.8,51,410,0.00,2.45,0.00,0.000,6,0.000,0.036,2340,2047,3814
$GC,599,-1.78,-97.8,40.9,-7.3,67,604,0.00,2.58,0.00,0.000,4,0.000,0.067,2340,639,3815
$GC,625,-1.78,-97.8,42.9,-7.8,69,629,0.00,2.42,0.00,0.000,6,0.000,0.036,2340,2050,3815
$GC,827,-1.78,-97.8,57.8,-6.9,85,831,0.00,2.53,0.00,0.000,4,0.000,0.057,2340,3460,3815
$GC,878,-1.78,-97.8,61.8,-8.0,88,886,0.00,2.47,0.00,0.000,6,0.000,0.038,2340,2053,3815
$GC,1075,-1.78,-97.8,75.9,-7.2,104,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2051,3815
$GC,1267,-1.78,-97.8,90.0,-7.1,119,1271,0.00,2.53,0.00,0.000,4,0.000,0.057,2340,3455,3815
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1335,-0.38,0.0,95.1,7.6,123,1414,1.48,0.00,75.07,0.576,6,0.103,0.000,2640,2438,3415
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1417,1.78,97.8,97.1,0.0,130,1497,2.17,0.00,73.88,0.571,6,0.072,0.000,3116,2438,3016
$GC,1679,1.78,97.8,76.8,9.3,151,1684,0.00,2.60,0.00,0.000,4,0.000,0.065,3116,3845,3015
$GC,1743,1.78,97.8,70.2,9.9,155,1751,0.00,2.42,0.00,0.000,6,0.000,0.034,3116,2455,3015
$GC,1940,1.78,97.8,52.3,9.0,171,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2451,3014
$GC,2132,1.78,97.8,35.6,8.7,186,2136,0.00,2.58,0.00,0.000,4,0.000,0.065,3116,3854,3014
$GC,2203,1.78,97.8,28.3,10.4,191,2208,0.00,2.42,0.00,0.000,6,0.000,0.034,3116,2436,3014
$GC,2404,1.79,108.2,11.2,7.1,214,2417,0.00,2.53,7.50,0.547,4,0.000,0.061,3116,1051,2971
$GC,2529,1.81,125.4,2.8,6.6,233,2543,0.00,2.42,8.93,0.538,2,0.000,0.038,3115,2453,2920
$STATE,2544,end climb,SURFACE_DEPTH_REACHED
$STATE,2544,begin surface coast
$FINISH,-0.1,1.011844
$STATE,2569,end surface coast,CONTROL_FINISHED_OK
$STATE,2569,begin surface
$SM_CCo,2593,278.58,0.499,0,0,679,671.14
$SM_GC,0.47,0.00,0.00,278.58,0.000,0.000,0.499,360,2062,679,-10.91,0.34,671.14
$IRIDIUM_FIX,4726.11,-12249.11,041007,040453
$TT8_MAMPS,0.071331
$HUMID,1991
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,19.80
$XPDR_PINGS,174
$ALTIM_TOP_PING,9.8,10.1
$ALTIM_BOTTOM_PING,70.6,999.0
$24V_AH,23.9,10.590
$10V_AH,10.1,7.581
$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,26.475,35.000,165.375,278.575,0.000,193.168,181.062,576.798,44.000,0.000,4253.000,13.170,453.024,1687.024,561.761,429.811,1103.801,33.348,818.225,0.000,413.789,0.000,4.117
$DEVICE_MAMPS,156.468,78.234,576.017,498.550,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.705,0.000,0.000,0.000,0.000,0.000,0.000,4253.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6445,239
$CFSIZE,260034560,253403136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,011047,4742.473,-12251.144,11,2.4,30,18.3