version: 66.02
glider: 107
mission: 10
dive: 204
start: 10 7 107 18 2 2
data:
$ID,107
$MISSION,10
$DIVE,204
$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,-19405.414
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,175357,4743.222,-12250.775,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-50.8
$GPS2,180039,4743.271,-12250.769,13,1.1,13,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,-0.261
$KALMAN_X,16887.4,24.3,-64.2,-13912.8,-2.2
$KALMAN_Y,17639.2,902.9,204.7,-12030.7,-14.7
$MHEAD_RNG_PITCHd_Wd,170.1,415,-22.1,-12.000
$D_GRID,166
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.82,-97.8,0.0,0.0,0,128,0.00,0.00,-97.20,0.000,2,0.000,0.000,360,2057,3590
$GC,132,-1.82,-97.8,2.1,-3.7,16,157,10.75,0.00,-7.40,0.000,6,0.151,0.000,2327,2057,3813
$GC,225,-1.82,-97.8,10.8,-9.2,30,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2057,3814
$GC,296,-1.82,-97.8,17.4,-9.6,41,303,0.00,2.58,0.00,0.000,4,0.000,0.068,2327,649,3814
$GC,495,-1.82,-97.8,34.9,-8.5,59,499,0.00,2.42,0.00,0.000,6,0.000,0.037,2327,2052,3814
$GC,690,-1.82,-97.8,49.2,-7.2,74,695,0.00,2.58,0.00,0.000,4,0.000,0.068,2327,652,3813
$GC,728,-1.82,-97.8,52.1,-7.2,76,735,0.00,2.45,0.00,0.000,6,0.000,0.037,2327,2053,3814
$GC,925,-1.82,-97.8,66.5,-7.3,92,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2055,3814
$GC,1116,-1.82,-97.8,80.2,-7.3,107,1120,0.00,2.58,0.00,0.000,4,0.000,0.069,2327,655,3814
$GC,1167,-1.82,-97.8,84.3,-7.9,110,1174,0.00,2.42,0.00,0.000,6,0.000,0.038,2327,2046,3814
$STATE,1247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1247,begin apogee
$GC,1254,-0.38,0.0,90.3,7.2,117,1335,1.55,0.00,75.03,0.570,6,0.100,0.000,2642,2458,3414
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1338,1.82,97.8,92.0,0.0,124,1419,2.25,0.00,73.80,0.561,6,0.070,0.000,3124,2458,3015
$GC,1608,1.87,133.5,69.0,9.9,146,1637,0.00,0.00,26.48,0.552,6,0.000,0.000,3124,2459,2869
$GC,1820,1.91,170.2,47.3,9.8,163,1850,0.00,0.00,27.17,0.538,6,0.000,0.000,3125,2458,2721
$GC,2033,1.95,199.0,24.9,10.3,180,2062,0.12,2.65,21.02,0.530,4,0.071,0.066,3154,3850,2603
$GC,2096,1.95,199.0,17.3,12.7,186,2103,0.00,2.42,0.00,0.000,6,0.000,0.034,3153,2441,2602
$GC,2171,1.99,237.0,9.6,9.7,197,2208,0.00,2.60,27.88,0.515,4,0.000,0.062,3154,1054,2446
$STATE,2232,end climb,SURFACE_DEPTH_REACHED
$STATE,2232,begin surface coast
$FINISH,0.1,1.022317
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2246,begin surface
$SM_CCo,2272,109.88,0.495,0,0,1580,450.13
$SM_GC,0.68,0.00,0.00,109.88,0.000,0.000,0.495,356,2051,1580,-10.92,0.03,450.13
$IRIDIUM_FIX,4726.11,-12252.58,071007,212103
$TT8_MAMPS,0.071331
$HUMID,2016
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,136
$ALTIM_TOP_PING,9.6,999.0
$ALTIM_BOTTOM_PING,65.5,999.0
$24V_AH,23.9,19.127
$10V_AH,10.1,14.488
$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,26.975,25.200,251.375,109.875,0.000,37.963,39.292,192.016,34.500,0.000,2905.000,13.384,402.523,1157.770,471.376,383.176,414.128,33.327,712.393,0.000,358.162,0.000,4.062
$DEVICE_MAMPS,151.099,69.030,569.881,495.482,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.002,0.000,0.000,0.000,0.000,0.000,0.000,2905.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,209
$CFSIZE,260034560,250359808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,184233,4743.080,-12250.807,13,2.0,13,18.3