version: 66.02
glider: 107
mission: 10
dive: 219
start: 10 8 107 6 58 31
data:
$ID,107
$MISSION,10
$DIVE,219
$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,-19754.713
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,064632,4743.094,-12250.778,15,2.0,32,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-46.5
$GPS2,065707,4742.995,-12250.783,13,1.5,29,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,0.257
$KALMAN_X,16021.0,-215.7,-111.6,-12774.2,-53.8
$KALMAN_Y,17646.7,-75.2,-135.5,-11226.4,-43.5
$MHEAD_RNG_PITCHd_Wd,345.4,111,-22.7,-12.000
$D_GRID,163
$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,-97.8,0.0,0.0,0,163,0.00,0.00,-133.38,0.000,2,0.000,0.000,361,2062,3574
$GC,166,-1.87,-97.8,2.3,-4.6,22,192,10.62,2.60,-8.05,0.000,4,0.150,0.077,2318,651,3813
$GC,443,-1.87,-97.8,29.3,-7.6,56,447,0.00,2.40,0.00,0.000,6,0.000,0.036,2317,2047,3814
$GC,639,-1.87,-97.8,43.3,-7.1,71,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2048,3814
$GC,831,-1.87,-97.8,57.2,-7.7,86,836,0.00,2.58,0.00,0.000,4,0.000,0.068,2318,646,3814
$GC,917,-1.87,-97.8,64.7,-8.4,92,925,0.00,2.42,0.00,0.000,6,0.000,0.037,2318,2049,3814
$GC,1121,-1.87,-97.8,80.5,-7.8,108,1125,0.00,2.53,0.00,0.000,4,0.000,0.058,2318,3454,3814
$GC,1207,-1.87,-97.8,87.4,-8.5,114,1211,0.00,2.45,0.00,0.000,6,0.000,0.040,2318,2051,3814
$STATE,1235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1235,begin apogee
$GC,1242,-0.38,0.0,90.1,8.0,116,1323,1.60,0.00,75.03,0.565,6,0.093,0.000,2646,2459,3414
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,1.87,97.8,92.0,0.0,123,1412,2.20,2.62,73.72,0.558,4,0.064,0.064,3136,3842,3015
$GC,1430,1.91,129.3,84.7,10.0,131,1462,0.00,2.45,23.27,0.558,6,0.000,0.035,3136,2443,2887
$GC,1652,1.93,145.6,61.5,11.0,149,1668,0.00,2.62,11.75,0.551,4,0.000,0.064,3136,3848,2820
$GC,1742,1.93,149.7,50.9,11.7,155,1750,0.00,2.42,3.00,0.580,6,0.000,0.035,3135,2441,2804
$GC,1938,1.96,170.0,29.4,10.7,171,1955,0.00,0.00,14.82,0.530,6,0.000,0.000,3136,2439,2722
$GC,2145,2.01,211.0,8.1,9.4,196,2183,0.15,2.62,30.35,0.511,4,0.065,0.063,3176,3848,2553
$STATE,2200,end climb,SURFACE_DEPTH_REACHED
$STATE,2202,begin surface coast
$FINISH,0.4,1.022229
$STATE,2214,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2244,121.28,0.492,0,0,1580,450.13
$SM_GC,0.67,0.00,0.00,121.28,0.000,0.000,0.492,359,2061,1580,-10.91,0.31,450.13
$IRIDIUM_FIX,4722.92,-12246.42,081007,101040
$TT8_MAMPS,0.072865
$HUMID,2002
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,135
$ALTIM_TOP_PING,9.4,999.0
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,23.9,20.410
$10V_AH,10.1,15.489
$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,26.950,31.650,231.950,121.275,0.000,81.725,121.981,226.550,34.250,7.840,3267.160,29.543,396.725,1177.772,472.779,422.310,576.805,33.319,734.604,0.000,381.470,0.000,4.073
$DEVICE_MAMPS,149.565,77.467,579.852,491.647,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.464,0.000,0.000,0.000,0.000,0.000,0.000,3275.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6462,207
$CFSIZE,260034560,249896960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,073902,4743.165,-12250.896,13,1.7,30,18.3