version: 66.02
glider: 107
mission: 10
dive: 205
start: 10 7 107 18 50 51
data:
$ID,107
$MISSION,10
$DIVE,205
$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,-19423.676
$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,21
$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
$GPS1,184233,4743.080,-12250.807,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.8
$GPS2,184927,4743.103,-12250.799,17,1.8,17,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,-0.230
$KALMAN_X,16910.9,-0.5,-47.3,-13965.7,7.9
$KALMAN_Y,17768.8,869.5,170.5,-12402.8,-35.9
$MHEAD_RNG_PITCHd_Wd,188.1,101,-22.7,-12.000
$D_GRID,164
$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,26,-1.87,-97.8,0.0,0.0,0,120,0.00,0.00,-90.85,0.000,2,0.000,0.000,356,2052,3447
$GC,124,-1.87,-97.8,2.0,-5.0,15,156,10.70,2.58,-12.98,0.000,4,0.151,0.078,2320,656,3814
$GC,162,-1.87,-97.8,4.8,-5.8,21,169,0.00,2.42,0.00,0.000,6,0.000,0.035,2320,2062,3814
$GC,235,-1.87,-97.8,11.5,-9.3,32,241,0.00,2.50,0.00,0.000,4,0.000,0.055,2320,3457,3815
$GC,274,-1.87,-97.8,15.1,-9.7,38,280,0.00,2.45,0.00,0.000,6,0.000,0.038,2319,2053,3815
$GC,346,-1.87,-97.8,21.6,-8.7,48,350,0.00,2.58,0.00,0.000,4,0.000,0.069,2320,649,3815
$GC,564,-1.87,-97.8,40.3,-7.9,64,568,0.00,2.42,0.00,0.000,6,0.000,0.037,2320,2054,3815
$GC,766,-1.87,-97.8,56.3,-8.0,80,771,0.00,2.50,0.00,0.000,4,0.000,0.057,2320,3453,3815
$GC,839,-1.87,-97.8,62.2,-7.9,85,843,0.00,2.45,0.00,0.000,6,0.000,0.039,2320,2047,3815
$GC,1034,-1.87,-97.8,77.0,-7.4,100,1039,0.00,2.58,0.00,0.000,4,0.000,0.071,2320,646,3815
$GC,1094,-1.87,-97.8,81.6,-8.1,104,1098,0.00,2.42,0.00,0.000,6,0.000,0.038,2320,2050,3814
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1204,-0.38,0.0,90.0,7.8,112,1285,1.60,0.00,75.40,0.563,6,0.098,0.000,2645,2449,3414
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1289,1.87,97.8,92.2,0.0,119,1370,2.25,0.00,74.00,0.557,6,0.068,0.000,3132,2449,3015
$GC,1559,1.92,134.8,69.8,9.7,141,1589,0.00,0.00,27.40,0.550,6,0.000,0.000,3132,2450,2864
$GC,1772,1.95,161.6,48.3,10.3,158,1796,0.00,0.00,19.73,0.541,6,0.000,0.000,3132,2450,2755
$GC,1985,1.98,190.8,25.4,10.1,175,2014,0.12,2.65,21.27,0.526,4,0.068,0.066,3162,3850,2637
$GC,2055,1.98,190.8,17.1,12.4,182,2062,0.00,2.42,0.00,0.000,6,0.000,0.034,3162,2441,2636
$GC,2130,2.02,221.5,9.6,10.1,193,2161,0.00,2.60,22.55,0.517,4,0.000,0.061,3162,1052,2511
$STATE,2191,end climb,SURFACE_DEPTH_REACHED
$STATE,2192,begin surface coast
$FINISH,0.0,1.022294
$STATE,2206,end surface coast,CONTROL_FINISHED_OK
$STATE,2206,begin surface
$SM_CCo,2232,117.12,0.494,0,0,1580,450.13
$SM_GC,0.66,0.00,0.00,117.12,0.000,0.000,0.494,360,2055,1580,-10.91,0.14,450.13
$IRIDIUM_FIX,4726.11,-12252.58,071007,212104
$TT8_MAMPS,0.071331
$HUMID,1996
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,132
$ALTIM_TOP_PING,9.6,999.0
$ALTIM_BOTTOM_PING,65.6,999.0
$24V_AH,23.9,19.206
$10V_AH,10.1,14.550
$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,26.925,35.050,240.350,117.125,0.000,37.308,33.617,206.155,33.500,0.000,2889.000,17.632,405.046,1122.142,467.912,392.869,421.949,33.331,714.308,0.000,365.487,0.000,4.062
$DEVICE_MAMPS,151.099,78.234,562.978,493.948,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.467,0.000,0.000,0.000,0.000,0.000,0.000,2889.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,205
$CFSIZE,260034560,250327040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,193107,4742.942,-12250.947,15,1.5,31,18.3