version: 66.02
glider: 107
mission: 10
dive: 117
start: 10 4 107 13 26 39
data:
$ID,107
$MISSION,10
$DIVE,117
$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,-17385.602
$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,36
$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
$GPS1,130647,4742.428,-12251.206,10,6.4,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-53.1
$GPS2,132535,4742.493,-12251.274,13,3.5,32,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,8_GC
$TGT_LATLONG,4742.508,-12251.070
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,0.007
$KALMAN_X,18528.5,31.1,-72.6,-16182.1,-18.6
$KALMAN_Y,15764.5,241.7,11.5,-10740.9,14.2
$MHEAD_RNG_PITCHd_Wd,68.7,256,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.18,-44.5,0.0,0.0,0,119,0.00,0.00,-91.20,0.000,2,0.000,0.000,361,2057,3451
$GC,122,-2.21,-72.7,2.1,-4.6,15,148,10.32,2.58,-9.35,0.000,4,0.153,0.068,2247,3454,3713
$GC,319,-2.21,-72.7,21.5,-10.3,44,324,0.00,2.42,0.00,0.000,6,0.000,0.038,2247,2061,3714
$GC,522,-2.21,-74.1,37.0,-7.7,60,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2059,3714
$GC,712,-2.21,-75.4,51.2,-7.8,75,714,0.00,0.00,-0.12,0.000,6,0.000,0.000,2248,2059,3726
$GC,903,-2.22,-77.7,66.2,-7.6,90,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2059,3727
$GC,1091,-2.22,-80.5,80.6,-7.6,105,1093,0.00,0.00,-0.17,0.000,6,0.000,0.000,2247,2060,3749
$STATE,1265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1265,begin apogee
$GC,1270,-0.38,0.0,95.1,8.2,119,1339,1.95,0.00,63.45,0.572,6,0.104,0.000,2641,2451,3414
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,2.22,80.5,96.6,0.0,125,1416,2.60,2.65,60.97,0.569,4,0.067,0.065,3213,3848,3085
$GC,1447,2.22,80.5,88.5,11.3,133,1455,0.00,2.47,0.00,0.000,6,0.000,0.034,3213,2438,3085
$GC,1644,2.22,80.5,67.1,10.8,149,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2436,3085
$GC,1834,2.22,80.5,46.6,10.6,164,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2436,3085
$GC,2024,2.22,80.5,26.8,10.4,179,2028,0.00,2.62,0.00,0.000,4,0.000,0.065,3213,3854,3085
$GC,2102,2.22,80.5,18.1,11.2,185,2109,0.00,2.42,0.00,0.000,6,0.000,0.034,3213,2444,3084
$GC,2175,2.22,82.7,11.9,7.7,196,2181,0.00,2.53,0.00,0.000,4,0.000,0.061,3213,1055,3085
$GC,2266,2.22,84.4,4.2,7.7,210,2274,0.00,2.45,2.22,0.574,6,0.000,0.038,3213,2466,3072
$STATE,2304,end climb,SURFACE_DEPTH_REACHED
$STATE,2304,begin surface coast
$FINISH,-0.0,1.022058
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2365,189.95,0.502,0,0,1580,450.13
$SM_GC,0.58,0.00,0.00,189.95,0.000,0.000,0.502,360,2051,1580,-10.90,0.03,450.13
$IRIDIUM_FIX,4726.11,-12253.53,041007,171717
$TT8_MAMPS,0.077467
$HUMID,1999
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.70
$XPDR_PINGS,160
$ALTIM_TOP_PING,9.7,9.4
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.9,11.867
$10V_AH,10.1,8.590
$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,27.400,21.575,126.650,189.950,0.000,158.557,133.172,498.039,40.500,8.300,3788.700,33.548,416.379,1534.486,426.760,404.848,927.947,33.325,654.742,0.000,362.298,0.000,4.111
$DEVICE_MAMPS,153.400,68.263,574.483,501.618,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,147.887,0.000,0.000,0.000,0.000,0.000,0.000,3797.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,221
$CFSIZE,260034560,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,141003,4742.549,-12251.015,14,1.9,14,18.3