version: 66.02
glider: 107
mission: 10
dive: 221
start: 10 8 107 8 50 51
data:
$ID,107
$MISSION,10
$DIVE,221
$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,-19804.303
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,083905,4743.035,-12250.713,11,3.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-47.3
$GPS2,084926,4742.996,-12250.783,9,1.7,14,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,0.254
$KALMAN_X,15777.2,-258.6,-157.0,-12443.1,-23.6
$KALMAN_Y,17488.8,-171.1,-112.2,-10995.0,-29.6
$MHEAD_RNG_PITCHd_Wd,332.9,109,-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,-97.8,0.0,0.0,0,157,0.00,0.00,-127.62,0.000,2,0.000,0.000,359,2042,3434
$GC,160,-1.87,-97.8,2.0,-4.6,21,192,10.68,2.55,-14.35,0.000,4,0.150,0.078,2318,652,3813
$GC,442,-1.87,-97.8,28.3,-7.1,56,449,0.00,2.45,0.00,0.000,6,0.000,0.035,2318,2053,3814
$GC,639,-1.87,-97.8,43.5,-7.7,72,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2054,3814
$GC,832,-1.87,-97.8,58.2,-8.0,87,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2054,3814
$GC,1019,-1.87,-97.8,72.7,-7.7,102,1023,0.00,2.53,0.00,0.000,4,0.000,0.057,2318,3461,3814
$GC,1091,-1.87,-97.8,78.5,-8.3,107,1095,0.00,2.45,0.00,0.000,6,0.000,0.039,2318,2047,3814
$STATE,1240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1249,-0.38,0.0,90.2,8.0,119,1328,1.55,0.00,75.25,0.563,6,0.096,0.000,2638,2456,3415
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1332,1.87,97.8,92.1,0.0,126,1417,2.25,2.62,73.80,0.557,4,0.064,0.064,3139,3843,3014
$GC,1444,1.91,131.2,84.4,9.9,135,1474,0.00,2.42,24.58,0.556,6,0.000,0.035,3139,2442,2880
$GC,1663,1.94,153.5,61.9,10.6,152,1688,0.00,2.67,16.40,0.548,4,0.000,0.064,3139,3851,2789
$GC,1741,1.95,159.9,52.9,11.6,158,1753,0.00,2.42,4.65,0.565,6,0.000,0.035,3139,2449,2762
$GC,1942,1.96,170.6,29.7,11.3,174,1954,0.00,0.00,7.72,0.545,6,0.000,0.000,3139,2447,2718
$GC,2149,2.01,209.6,8.0,9.5,199,2187,0.12,2.65,28.48,0.513,4,0.070,0.064,3169,3848,2559
$STATE,2213,end climb,SURFACE_DEPTH_REACHED
$STATE,2213,begin surface coast
$FINISH,0.2,1.019823
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2225,begin surface
$SM_CCo,2255,121.88,0.492,0,0,1579,450.13
$SM_GC,0.73,0.00,0.00,121.88,0.000,0.000,0.492,361,2051,1579,-10.89,0.03,450.13
$IRIDIUM_FIX,4726.11,-12250.84,081007,121209
$TT8_MAMPS,0.071331
$HUMID,2012
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.90
$XPDR_PINGS,136
$ALTIM_TOP_PING,9.8,9.5
$ALTIM_BOTTOM_PING,65.9,999.0
$24V_AH,23.9,20.600
$10V_AH,10.1,15.635
$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,26.950,26.725,230.875,121.875,0.000,76.070,137.763,215.007,34.500,7.840,3268.160,14.797,395.833,1202.102,472.334,397.848,577.066,33.322,727.964,0.000,372.216,0.000,4.109
$DEVICE_MAMPS,150.332,78.234,565.279,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,139.110,0.000,0.000,0.000,0.000,0.000,0.000,3276.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6458,211
$CFSIZE,260034560,249839616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,093135,4743.180,-12250.970,11,5.1,30,18.3