version: 66.02
glider: 107
mission: 10
dive: 228
start: 10 8 107 15 27 48
data:
$ID,107
$MISSION,10
$DIVE,228
$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,-20010.451
$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,24
$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
$GPS1,151033,4742.927,-12250.908,12,2.0,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-54.1
$GPS2,152626,4742.887,-12250.950,15,2.0,32,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,0.230
$KALMAN_X,15139.1,-311.7,-51.7,-12066.5,24.7
$KALMAN_Y,16975.0,-304.0,-47.0,-10610.6,12.5
$MHEAD_RNG_PITCHd_Wd,8.2,343,-22.7,-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,-1.87,-97.8,0.0,0.0,0,121,0.00,0.00,-90.68,0.000,2,0.000,0.000,363,2053,3467
$GC,126,-1.87,-97.8,2.0,-4.7,15,157,10.73,2.60,-12.57,0.000,4,0.154,0.080,2319,645,3814
$GC,199,-1.87,-97.8,7.8,-10.2,26,205,0.00,2.42,0.00,0.000,6,0.000,0.035,2318,2053,3815
$GC,271,-1.87,-97.8,15.6,-10.6,37,277,0.00,2.50,0.00,0.000,4,0.000,0.056,2318,3450,3815
$GC,284,-1.87,-97.8,16.9,-9.8,39,290,0.00,2.45,0.00,0.000,6,0.000,0.038,2318,2040,3815
$GC,363,-1.87,-97.8,23.4,-8.0,48,367,0.00,2.55,0.00,0.000,4,0.000,0.054,2318,3459,3816
$GC,403,-1.87,-97.8,26.6,-7.9,50,409,0.00,2.45,0.00,0.000,6,0.000,0.037,2319,2044,3816
$GC,598,-1.87,-97.8,41.2,-7.7,66,602,0.00,2.58,0.00,0.000,4,0.000,0.070,2318,640,3816
$GC,650,-1.87,-97.8,45.4,-7.7,69,657,0.00,2.45,0.00,0.000,6,0.000,0.037,2319,2059,3816
$GC,846,-1.87,-97.8,61.2,-8.1,85,850,0.00,2.50,0.00,0.000,4,0.000,0.056,2318,3458,3816
$GC,898,-1.87,-97.8,65.6,-8.0,88,905,0.00,2.45,0.00,0.000,6,0.000,0.038,2318,2050,3815
$GC,1094,-1.87,-97.8,81.2,-7.7,104,1098,0.00,2.58,0.00,0.000,4,0.000,0.072,2318,636,3816
$GC,1185,-1.87,-97.8,88.6,-8.2,110,1192,0.00,2.45,0.00,0.000,6,0.000,0.037,2318,2056,3816
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1209,-0.38,0.0,90.0,7.8,112,1290,1.60,0.00,75.18,0.566,6,0.101,0.000,2642,2457,3414
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1293,1.87,97.8,91.9,0.0,119,1374,2.28,0.00,73.35,0.559,6,0.068,0.000,3132,2458,3015
$GC,1563,1.92,136.2,69.3,9.6,141,1599,0.00,0.00,28.27,0.550,6,0.000,0.000,3133,2459,2858
$GC,1788,1.94,157.2,45.8,10.7,159,1806,0.00,0.00,15.50,0.542,6,0.000,0.000,3135,2458,2773
$GC,1990,1.96,169.1,22.9,11.2,175,2002,0.10,0.00,8.50,0.547,6,0.077,0.000,3156,2459,2725
$STATE,2189,end climb,SURFACE_DEPTH_REACHED
$STATE,2190,begin surface coast
$FINISH,0.0,1.007379
$STATE,2210,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2237,261.88,0.496,0,0,680,671.14
$SM_GC,0.58,0.00,0.00,261.88,0.000,0.000,0.496,357,2040,680,-10.92,-0.28,671.14
$IRIDIUM_FIX,4726.11,-12248.15,081007,191928
$TT8_MAMPS,0.077467
$HUMID,1983
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.90
$XPDR_PINGS,140
$ALTIM_TOP_PING,9.8,999.0
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,23.9,21.280
$10V_AH,10.1,16.149
$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,26.950,31.400,200.800,261.875,0.000,196.638,375.847,0.000,35.500,0.000,3438.000,32.670,407.708,1396.674,589.706,380.387,720.905,33.331,819.973,0.000,347.328,0.000,4.061
$DEVICE_MAMPS,154.167,79.768,566.046,496.249,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.446,0.000,0.000,0.000,0.000,0.000,0.000,3438.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,206
$CFSIZE,260034560,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,161035,4743.073,-12250.895,12,3.1,31,18.3