version: 66.02
glider: 107
mission: 10
dive: 216
start: 10 8 107 4 13 51
data:
$ID,107
$MISSION,10
$DIVE,216
$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,671.14081
$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,-19692.469
$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,22
$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
$GPS1,035637,4743.023,-12250.971,11,1.3,27,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-47.6
$GPS2,041229,4742.934,-12251.023,10,4.2,29,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.206
$KALMAN_X,16413.3,-162.1,-44.9,-13583.7,-36.7
$KALMAN_Y,17859.4,151.0,-99.1,-11814.1,-125.9
$MHEAD_RNG_PITCHd_Wd,21.2,335,-21.9,-12.000
$D_GRID,161
$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,-1.80,-97.8,0.0,0.0,0,164,0.00,0.00,-133.62,0.000,2,0.000,0.000,361,2056,3549
$GC,167,-1.80,-97.8,2.1,-4.6,22,193,10.70,2.58,-9.23,0.000,4,0.150,0.066,2334,3453,3814
$GC,444,-1.80,-97.8,28.4,-8.7,58,449,0.00,2.45,0.00,0.000,6,0.000,0.038,2334,2040,3815
$GC,640,-1.80,-97.8,43.1,-7.7,73,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2040,3814
$GC,832,-1.80,-97.8,57.7,-7.8,88,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2039,3815
$GC,1020,-1.80,-97.8,71.8,-7.2,103,1025,0.00,2.58,0.00,0.000,4,0.000,0.071,2335,642,3815
$GC,1106,-1.80,-97.8,78.5,-7.8,109,1110,0.00,2.45,0.00,0.000,6,0.000,0.037,2334,2057,3815
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1275,begin apogee
$GC,1281,-0.38,0.0,90.6,7.1,122,1361,1.50,0.00,75.47,0.567,6,0.099,0.000,2641,2458,3414
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1365,1.80,97.8,92.5,0.0,129,1444,2.17,0.00,73.90,0.561,6,0.070,0.000,3120,2458,3016
$GC,1628,1.86,141.5,71.5,9.4,150,1664,0.00,0.00,32.28,0.549,6,0.000,0.000,3119,2459,2837
$GC,1853,1.89,168.1,48.6,10.4,168,1877,0.00,0.00,19.85,0.541,6,0.000,0.000,3120,2459,2728
$GC,2066,1.91,188.2,25.5,10.8,185,2091,0.12,2.65,14.50,0.532,4,0.070,0.058,3149,1045,2647
$GC,2131,1.93,202.1,18.2,11.2,191,2150,0.00,2.45,9.93,0.533,6,0.000,0.038,3150,2455,2591
$GC,2216,1.96,222.8,8.5,10.8,204,2241,0.00,2.65,15.25,0.522,4,0.000,0.065,3150,3850,2505
$STATE,2278,end climb,SURFACE_DEPTH_REACHED
$STATE,2278,begin surface coast
$FINISH,0.1,1.010696
$STATE,2294,end surface coast,CONTROL_FINISHED_OK
$STATE,2294,begin surface
$SM_CCo,2322,233.02,0.490,0,0,679,671.14
$SM_GC,0.58,0.00,0.00,233.02,0.000,0.000,0.490,360,2050,679,-10.90,0.00,671.14
$IRIDIUM_FIX,4726.11,-12248.15,081007,080830
$TT8_MAMPS,0.071331
$HUMID,1976
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.80
$XPDR_PINGS,142
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,65.5,999.0
$24V_AH,23.9,20.136
$10V_AH,10.1,15.278
$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,26.725,21.700,241.175,233.025,0.000,199.011,375.846,0.000,36.000,7.840,3648.160,30.639,401.202,1441.989,597.491,395.834,714.884,33.329,843.408,0.000,363.800,0.000,5.766
$DEVICE_MAMPS,149.565,71.331,566.813,490.113,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,142.556,0.000,0.000,0.000,0.000,0.000,0.000,3656.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6463,216
$CFSIZE,260034560,249966592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,045715,4743.032,-12250.904,12,1.7,12,18.3