version: 66.02
glider: 107
mission: 10
dive: 199
start: 10 7 107 13 48 22
data:
$ID,107
$MISSION,10
$DIVE,199
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,35
$T_MISSION,40
$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,-19279.883
$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,35
$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
$GPS1,133247,4743.332,-12250.871,9,3.2,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-50.1
$GPS2,134717,4743.542,-12250.905,14,2.8,33,18.3
$SPEED_LIMITS,0.148,0.206
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,-0.196
$KALMAN_X,16945.4,294.3,8.5,-14481.9,-98.4
$KALMAN_Y,16192.6,966.5,322.0,-10269.2,139.2
$MHEAD_RNG_PITCHd_Wd,144.0,919,-19.7,-8.571
$D_GRID,167
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.64,-97.8,0.0,0.0,0,127,0.00,0.00,-96.88,0.000,2,0.000,0.000,361,2056,3571
$GC,132,-1.64,-97.8,2.1,-4.3,16,157,10.95,2.53,-8.27,0.000,4,0.150,0.066,2371,3459,3813
$GC,257,-1.64,-97.8,11.6,-6.3,35,263,0.00,2.42,0.00,0.000,6,0.000,0.038,2372,2061,3814
$GC,329,-1.64,-97.8,16.0,-5.8,46,335,0.00,2.62,0.00,0.000,4,0.000,0.071,2372,639,3815
$GC,388,-1.64,-97.8,20.3,-8.3,55,394,0.00,2.45,0.00,0.000,6,0.000,0.036,2371,2059,3815
$GC,584,-1.64,-97.8,35.3,-7.3,71,588,0.00,2.50,0.00,0.000,4,0.000,0.056,2371,3452,3815
$GC,688,-1.64,-97.8,43.0,-8.0,78,695,0.00,2.47,0.00,0.000,6,0.000,0.039,2371,2048,3815
$GC,884,-1.64,-97.8,55.6,-6.5,94,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2047,3815
$GC,1075,-1.64,-97.8,68.2,-6.6,109,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2047,3815
$STATE,1210,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1210,begin apogee
$GC,1216,-0.38,0.0,77.4,6.8,120,1297,1.33,0.00,74.97,0.565,6,0.091,0.000,2644,2458,3414
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1300,1.64,97.8,79.1,0.0,127,1386,2.03,2.65,73.38,0.555,4,0.065,0.065,3091,3852,3015
$GC,1404,1.64,98.1,72.9,8.5,135,1412,0.00,2.47,0.00,0.000,6,0.000,0.034,3092,2443,3014
$GC,1601,1.65,109.9,56.7,7.9,151,1613,0.00,0.00,8.65,0.563,6,0.000,0.000,3091,2441,2965
$GC,1802,1.65,109.9,39.2,9.2,167,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2440,2965
$GC,1993,1.66,117.4,23.5,8.1,182,2006,0.00,2.62,5.10,0.559,4,0.000,0.064,3091,3856,2935
$GC,2091,1.66,117.4,15.1,8.8,194,2099,0.00,2.42,0.00,0.000,6,0.000,0.034,3091,2442,2935
$GC,2166,1.67,124.8,9.0,8.1,205,2179,0.00,2.55,5.45,0.550,4,0.000,0.062,3091,1056,2905
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,0.5,1.022391
$STATE,2270,end surface coast,CONTROL_FINISHED_OK
$STATE,2270,begin surface
$SM_CCo,2298,164.27,0.500,0,0,1580,450.13
$SM_GC,0.57,0.00,0.00,164.27,0.000,0.000,0.500,359,2060,1580,-10.91,0.31,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,171715
$TT8_MAMPS,0.072865
$HUMID,2017
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,146
$ALTIM_TOP_PING,9.5,999.0
$ALTIM_BOTTOM_PING,65.6,999.0
$24V_AH,23.9,18.731
$10V_AH,10.1,14.162
$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,26.325,30.200,167.550,164.275,0.000,121.082,188.958,284.365,37.000,6.100,3441.900,34.653,410.003,1341.056,451.519,412.721,743.918,33.334,693.467,0.000,368.553,0.000,4.065
$DEVICE_MAMPS,150.332,70.564,564.512,500.084,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.992,0.000,0.000,0.000,0.000,0.000,0.000,3448.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6452,221
$CFSIZE,260034560,250515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,143038,4743.466,-12250.896,38,1.2,38,18.3