version: 66.02
glider: 107
mission: 10
dive: 222
start: 10 8 107 9 48 50
data:
$ID,107
$MISSION,10
$DIVE,222
$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,-19818.744
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,093135,4743.180,-12250.970,11,5.1,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-54.2
$GPS2,094727,4743.158,-12251.059,13,1.8,13,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.218,-0.136
$KALMAN_X,15603.0,-290.1,-177.5,-12556.0,-19.1
$KALMAN_Y,17440.1,-207.7,-97.0,-10624.3,-5.8
$MHEAD_RNG_PITCHd_Wd,103.6,362,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.87,-97.8,0.0,0.0,0,121,0.00,0.00,-90.72,0.000,2,0.000,0.000,362,2050,3475
$GC,126,-1.87,-97.8,2.1,-5.0,15,157,10.70,2.55,-12.32,0.000,4,0.153,0.067,2319,3458,3814
$GC,303,-1.87,-97.8,18.6,-10.4,42,309,0.00,2.45,0.00,0.000,6,0.000,0.038,2319,2047,3815
$GC,379,-1.87,-97.8,26.0,-9.3,49,383,0.00,2.58,0.00,0.000,4,0.000,0.069,2319,640,3815
$GC,496,-1.87,-97.8,35.4,-8.0,57,503,0.00,2.45,0.00,0.000,6,0.000,0.037,2319,2058,3815
$GC,693,-1.87,-97.8,50.2,-7.4,73,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2059,3816
$GC,884,-1.87,-97.8,64.1,-7.2,88,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2059,3815
$GC,1073,-1.87,-97.8,78.4,-7.6,103,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2059,3816
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1226,-0.38,0.0,90.2,8.1,115,1307,1.60,0.00,75.35,0.565,6,0.099,0.000,2644,2459,3415
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1311,1.87,97.8,92.3,0.0,122,1391,2.28,0.00,73.72,0.560,6,0.070,0.000,3133,2459,3015
$GC,1581,1.92,134.2,69.1,9.7,144,1617,0.00,2.67,26.80,0.550,4,0.000,0.067,3133,3859,2866
$GC,1691,1.92,137.7,57.1,11.8,152,1699,0.00,2.45,2.38,0.596,6,0.000,0.035,3133,2437,2853
$GC,1887,1.95,163.0,36.6,10.4,168,1910,0.00,0.00,18.90,0.537,6,0.000,0.000,3133,2435,2748
$GC,2103,2.02,222.6,14.9,8.2,189,2153,0.15,2.58,43.62,0.515,4,0.064,0.062,3173,1045,2506
$STATE,2217,end climb,SURFACE_DEPTH_REACHED
$STATE,2217,begin surface coast
$FINISH,0.1,1.022256
$STATE,2231,end surface coast,CONTROL_FINISHED_OK
$STATE,2232,begin surface
$SM_CCo,2260,234.48,0.488,0,0,679,671.14
$SM_GC,0.57,0.00,0.00,234.48,0.000,0.000,0.488,362,2060,679,-10.89,0.28,671.14
$IRIDIUM_FIX,4726.11,-12248.15,081007,131326
$TT8_MAMPS,0.070564
$HUMID,1990
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.90
$XPDR_PINGS,141
$ALTIM_TOP_PING,9.7,9.3
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,23.9,20.705
$10V_AH,10.1,15.710
$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,27.125,20.200,240.775,234.475,0.000,194.875,396.134,0.000,35.750,7.830,3478.170,13.811,392.145,1432.814,572.122,363.226,731.755,33.322,802.831,0.000,347.844,0.000,4.122
$DEVICE_MAMPS,153.400,69.030,595.959,487.812,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.085,0.000,0.000,0.000,0.000,0.000,0.000,3486.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6460,209
$CFSIZE,260034560,249802752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,103135,4743.023,-12250.798,14,3.3,33,18.3