version: 66.02
glider: 107
mission: 10
dive: 202
start: 10 7 107 16 24 11
data:
$ID,107
$MISSION,10
$DIVE,202
$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,25
$T_MISSION,50
$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,25
$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,-19358.223
$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,1500
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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
$GPS1,161044,4743.361,-12250.879,9,2.0,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-50.2
$GPS2,162247,4743.457,-12250.902,12,2.3,31,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.252
$KALMAN_X,16797.4,109.7,-54.6,-14083.6,-80.3
$KALMAN_Y,17188.3,947.2,268.3,-11346.0,6.1
$MHEAD_RNG_PITCHd_Wd,142.3,761,-21.9,-12.000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.80,-97.8,0.0,0.0,0,119,0.00,0.00,-90.72,0.000,2,0.000,0.000,361,2062,3449
$GC,123,-1.80,-97.8,2.0,-4.9,15,154,10.70,1.52,-13.15,0.000,4,0.149,0.072,2333,2917,3814
$GC,274,-1.80,-97.8,14.0,-8.6,38,280,0.00,2.50,0.00,0.000,6,0.000,0.047,2333,1511,3815
$GC,346,-1.80,-97.8,20.4,-8.7,49,350,0.00,2.55,0.00,0.000,4,0.000,0.086,2332,166,3816
$GC,425,-1.80,-97.8,27.3,-8.9,55,430,0.00,2.30,0.00,0.000,6,0.000,0.035,2333,1518,3815
$GC,621,-1.80,-97.8,42.1,-7.8,70,625,0.00,2.42,0.00,0.000,4,0.000,0.049,2333,2903,3815
$GC,692,-1.80,-97.8,47.9,-7.9,75,699,0.00,2.50,0.00,0.000,6,0.000,0.048,2333,1493,3815
$GC,889,-1.80,-97.8,62.9,-7.8,91,893,0.00,2.47,0.00,0.000,4,0.000,0.048,2333,2900,3816
$GC,1008,-1.80,-97.8,72.4,-8.4,99,1014,0.00,2.50,0.00,0.000,6,0.000,0.049,2333,1493,3815
$GC,1203,-1.80,-97.8,87.6,-8.0,115,1207,0.00,2.47,0.00,0.000,4,0.000,0.048,2333,2900,3815
$STATE,1233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1233,begin apogee
$GC,1241,-0.38,0.0,90.0,7.9,117,1321,1.48,0.00,75.43,0.573,6,0.091,0.000,2640,1934,3414
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1324,1.80,97.8,91.9,0.0,124,1410,2.17,2.65,73.57,0.566,4,0.061,0.073,3127,551,3015
$GC,1436,1.86,147.9,84.8,9.1,133,1479,0.00,2.42,37.30,0.558,6,0.000,0.035,3127,1948,2811
$GC,1669,1.89,168.6,60.8,10.8,151,1693,0.00,2.60,15.23,0.553,4,0.000,0.054,3127,3354,2727
$GC,1831,1.90,175.9,41.7,11.6,163,1842,0.00,2.50,5.30,0.558,6,0.000,0.040,3127,1945,2696
$GC,2040,1.92,191.6,19.0,11.1,180,2059,0.00,2.55,11.12,0.535,4,0.000,0.051,3127,3355,2632
$STATE,2195,end climb,SURFACE_DEPTH_REACHED
$STATE,2195,begin surface coast
$FINISH,0.1,1.012789
$STATE,2217,end surface coast,CONTROL_FINISHED_OK
$STATE,2217,begin surface
$SM_CCo,2245,132.55,0.497,0,0,1580,450.13
$SM_GC,0.71,0.00,0.00,132.55,0.000,0.000,0.497,354,1499,1580,-10.93,-0.06,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,202054
$TT8_MAMPS,0.071331
$HUMID,2013
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.80
$XPDR_PINGS,130
$ALTIM_TOP_PING,9.8,9.2
$ALTIM_BOTTOM_PING,65.5,999.0
$24V_AH,23.9,18.968
$10V_AH,10.1,14.362
$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,26.475,39.025,217.950,132.550,0.000,80.354,75.691,349.297,33.000,0.000,3252.000,32.141,409.394,1186.493,451.475,440.647,658.593,33.328,714.997,0.000,393.836,0.000,4.109
$DEVICE_MAMPS,148.798,85.904,572.949,497.016,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.168,0.000,0.000,0.000,0.000,0.000,0.000,3252.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,207
$CFSIZE,260034560,250421248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,170453,4743.344,-12250.764,8,2.9,27,18.3