version: 66.02
glider: 107
mission: 10
dive: 207
start: 10 7 107 20 35 50
data:
$ID,107
$MISSION,10
$DIVE,207
$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,-19468.205
$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,31
$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
$GPS1,202253,4743.197,-12250.896,12,2.1,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.4
$GPS2,203426,4743.231,-12250.895,12,1.8,29,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.242
$KALMAN_X,16801.2,-59.3,-24.2,-13935.6,-5.1
$KALMAN_Y,18096.8,803.2,112.8,-12372.0,-58.8
$MHEAD_RNG_PITCHd_Wd,141.9,350,-22.7,-12.000
$D_GRID,165
$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,-1.87,-97.8,0.0,0.0,0,125,0.00,0.00,-96.68,0.000,2,0.000,0.000,362,2067,3573
$GC,130,-1.87,-97.8,2.2,-5.8,16,155,10.68,2.50,-7.72,0.000,4,0.152,0.066,2317,3457,3812
$GC,274,-1.87,-97.8,16.8,-10.8,38,281,0.00,2.45,0.00,0.000,6,0.000,0.038,2317,2045,3814
$GC,351,-1.87,-97.8,23.9,-9.1,47,356,0.00,2.58,0.00,0.000,4,0.000,0.070,2317,643,3814
$GC,601,-1.87,-97.8,45.0,-7.7,65,608,0.00,2.45,0.00,0.000,6,0.000,0.037,2317,2047,3813
$GC,798,-1.87,-97.8,59.7,-7.5,81,802,0.00,2.58,0.00,0.000,4,0.000,0.068,2317,648,3814
$GC,871,-1.87,-97.8,65.3,-8.4,86,875,0.00,2.45,0.00,0.000,6,0.000,0.038,2319,2059,3814
$GC,1066,-1.87,-97.8,79.8,-7.4,101,1071,0.00,2.50,0.00,0.000,4,0.000,0.058,2317,3455,3814
$GC,1112,-1.87,-97.8,83.3,-8.0,104,1117,0.00,2.45,0.00,0.000,6,0.000,0.040,2317,2050,3814
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1211,-0.38,0.0,90.9,8.0,111,1292,1.60,0.00,75.20,0.568,6,0.096,0.000,2649,2459,3416
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,1.87,97.8,92.8,0.0,118,1381,2.22,2.62,73.78,0.564,4,0.064,0.065,3141,3842,3015
$GC,1434,1.90,125.5,82.4,10.2,129,1459,0.00,2.42,20.45,0.561,6,0.000,0.035,3141,2434,2903
$GC,1647,1.91,133.9,58.3,11.5,146,1659,0.00,0.00,6.10,0.569,6,0.000,0.000,3141,2432,2868
$GC,1848,1.93,147.2,35.5,11.2,162,1861,0.00,0.00,9.88,0.549,6,0.000,0.000,3141,2432,2814
$GC,2052,1.98,189.5,15.0,9.3,182,2089,0.00,2.55,31.00,0.521,4,0.000,0.061,3141,1052,2641
$GC,2162,2.00,203.8,4.0,11.1,199,2181,0.12,2.45,10.50,0.529,6,0.071,0.038,3169,2462,2582
$STATE,2185,end climb,SURFACE_DEPTH_REACHED
$STATE,2185,begin surface coast
$FINISH,-0.1,1.022288
$STATE,2200,end surface coast,CONTROL_FINISHED_OK
$STATE,2202,begin surface
$SM_CCo,2228,123.68,0.499,0,0,1580,450.13
$SM_GC,0.66,0.00,0.00,123.68,0.000,0.000,0.499,360,2039,1580,-10.90,-0.31,450.13
$IRIDIUM_FIX,4726.11,-12252.58,081007,000004
$TT8_MAMPS,0.074399
$HUMID,1994
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.80
$XPDR_PINGS,135
$ALTIM_TOP_PING,9.7,9.7
$ALTIM_BOTTOM_PING,65.3,999.0
$24V_AH,23.9,19.380
$10V_AH,10.1,14.687
$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,26.850,31.450,226.900,123.675,0.000,75.361,80.077,317.528,34.250,0.000,3188.000,29.780,401.076,1190.030,448.057,421.564,629.906,33.324,703.069,0.000,379.560,0.000,4.111
$DEVICE_MAMPS,151.866,69.797,569.114,498.550,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,135.456,0.000,0.000,0.000,0.000,0.000,0.000,3188.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,205
$CFSIZE,260034560,250249216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,211551,4743.055,-12250.766,14,1.5,14,18.3