version: 66.02
glider: 107
mission: 10
dive: 253
start: 10 9 107 7 41 44
data:
$ID,107
$MISSION,10
$DIVE,253
$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,110
$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,-20503.877
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,073337,4742.976,-12250.947,33,1.1,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-46.2
$GPS2,074021,4742.962,-12250.966,14,1.1,14,18.3
$SPEED_LIMITS,0.257,0.267
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,0.168
$KALMAN_X,13439.9,-667.3,-200.1,-9881.7,48.8
$KALMAN_Y,15595.5,-584.8,-169.3,-8693.6,44.4
$MHEAD_RNG_PITCHd_Wd,30.9,247,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.88,-107.5,0.0,0.0,0,171,0.00,0.00,-139.48,0.000,2,0.000,0.000,360,2056,3631
$GC,174,-1.88,-107.5,2.2,-4.6,23,199,10.73,0.00,-7.10,0.000,6,0.154,0.000,2314,2056,3855
$GC,267,-1.88,-107.5,12.5,-11.6,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2055,3856
$GC,340,-1.88,-107.5,18.9,-8.3,48,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2055,3856
$GC,410,-1.88,-107.5,25.1,-9.1,55,414,0.00,2.50,0.00,0.000,4,0.000,0.054,2314,3455,3856
$GC,461,-1.88,-107.5,29.6,-8.3,58,468,0.00,2.45,0.00,0.000,6,0.000,0.037,2314,2047,3856
$GC,658,-1.88,-107.5,45.1,-7.8,74,662,0.00,2.58,0.00,0.000,4,0.000,0.070,2314,644,3856
$GC,696,-1.88,-107.5,48.3,-8.6,76,703,0.00,2.42,0.00,0.000,6,0.000,0.036,2314,2051,3856
$GC,893,-1.88,-107.5,64.1,-8.0,92,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2052,3856
$GC,1084,-1.88,-107.5,79.6,-8.0,107,1088,0.00,2.53,0.00,0.000,4,0.000,0.057,2314,3461,3856
$GC,1122,-1.88,-107.5,83.0,-8.4,109,1129,0.00,2.47,0.00,0.000,6,0.000,0.039,2314,2039,3857
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1222,-0.38,0.0,90.7,8.6,117,1314,1.58,0.00,82.82,0.562,6,0.095,0.000,2639,2450,3414
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1317,1.88,107.5,93.3,0.0,125,1404,2.30,0.00,80.75,0.555,6,0.064,0.000,3139,2450,2976
$GC,1588,1.92,136.8,70.5,10.1,147,1616,0.00,2.65,21.55,0.551,4,0.000,0.065,3139,3850,2856
$GC,1683,1.92,136.8,59.2,12.3,154,1690,0.00,2.45,0.00,0.000,6,0.000,0.035,3139,2435,2856
$GC,1880,1.93,149.9,37.3,11.2,170,1892,0.00,0.00,9.57,0.546,6,0.000,0.000,3139,2432,2803
$GC,2083,1.97,179.6,15.0,10.1,189,2107,0.00,0.00,21.67,0.522,6,0.000,0.000,3139,2432,2682
$GC,2173,2.00,204.0,5.2,10.5,203,2199,0.12,2.65,17.65,0.515,4,0.073,0.064,3171,3853,2582
$STATE,2203,end climb,SURFACE_DEPTH_REACHED
$STATE,2203,begin surface coast
$FINISH,-0.1,1.011193
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2226,begin surface
$SM_CCo,2255,122.07,0.489,0,0,1580,450.13
$SM_GC,0.64,0.00,0.00,122.07,0.000,0.000,0.489,358,2049,1580,-10.91,-0.03,450.13
$IRIDIUM_FIX,4719.74,-12112.61,091007,111138
$TT8_MAMPS,0.070564
$HUMID,2023
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.80
$XPDR_PINGS,133
$ALTIM_TOP_PING,10.0,9.8
$ALTIM_BOTTOM_PING,65.0,999.0
$24V_AH,23.9,23.388
$10V_AH,10.1,17.487
$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,27.025,26.650,234.025,122.075,0.000,38.055,35.342,195.283,33.750,0.000,3076.000,14.805,391.339,1128.906,500.073,378.147,429.318,33.323,750.934,0.000,355.220,0.000,4.112
$DEVICE_MAMPS,154.167,69.797,562.211,489.346,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.458,0.000,0.000,0.000,0.000,0.000,0.000,3076.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,211
$CFSIZE,260034560,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,082209,4743.130,-12250.743,11,1.2,11,18.3