version: 66.02
glider: 107
mission: 10
dive: 268
start: 10 9 107 19 57 26
data:
$ID,107
$MISSION,10
$DIVE,268
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,40
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-20860.059
$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,23
$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
$GPS1,194044,4743.062,-12250.774,7,1.9,7,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-52.8
$GPS2,195621,4743.095,-12250.767,15,1.3,15,18.3
$SPEED_LIMITS,0.192,0.252
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,-0.132
$KALMAN_X,12748.1,-124.9,-15.8,-9669.4,16.6
$KALMAN_Y,14983.2,-97.5,-44.3,-8450.0,-7.0
$MHEAD_RNG_PITCHd_Wd,208.4,105,-28.0,-11.111
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.24,-73.9,0.0,0.0,0,128,0.00,0.00,-96.38,0.000,2,0.000,0.000,357,2048,3543
$GC,133,-2.31,-127.1,2.0,-5.0,16,164,10.18,2.60,-13.15,0.000,4,0.152,0.081,2222,643,3935
$GC,211,-2.31,-127.1,11.6,-14.9,28,217,0.00,2.42,0.00,0.000,6,0.000,0.037,2223,2051,3936
$GC,289,-2.31,-127.1,21.8,-12.3,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2052,3936
$GC,481,-2.31,-127.1,42.9,-11.0,54,485,0.00,2.58,0.00,0.000,4,0.000,0.067,2223,645,3937
$STATE,537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,547,-0.38,0.0,50.2,12.2,58,650,2.08,0.00,97.90,0.534,6,0.109,0.000,2645,2452,3415
$STATE,651,end apogee,CONTROL_FINISHED_OK
$STATE,651,begin climb
$GC,654,2.31,127.1,53.0,0.0,67,758,2.70,2.67,95.45,0.528,4,0.070,0.064,3233,3857,2895
$GC,792,2.31,127.1,39.3,14.5,77,799,0.00,2.47,0.00,0.000,6,0.000,0.034,3233,2442,2894
$GC,992,2.31,127.1,12.2,12.8,97,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2439,2893
$GC,1064,2.32,134.4,4.6,10.4,108,1076,0.00,2.65,4.78,0.538,4,0.000,0.063,3233,3852,2867
$STATE,1087,end climb,SURFACE_DEPTH_REACHED
$STATE,1087,begin surface coast
$FINISH,0.1,1.022251
$STATE,1101,end surface coast,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$SM_CCo,1133,272.33,0.486,0,0,679,671.14
$SM_GC,0.34,0.00,0.00,272.33,0.000,0.000,0.486,363,2055,679,-10.89,0.14,671.14
$IRIDIUM_FIX,4726.11,-12248.15,091007,232341
$TT8_MAMPS,0.074399
$HUMID,1983
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.80
$XPDR_PINGS,55
$ALTIM_TOP_PING,9.3,9.0
$ALTIM_BOTTOM_PING,25.9,999.0
$24V_AH,24.0,24.731
$10V_AH,10.1,18.441
$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,27.500,21.800,198.125,272.325,0.000,193.144,375.844,0.000,14.250,0.000,2339.000,15.762,220.913,652.507,571.501,222.703,703.131,33.323,736.228,0.000,208.237,0.000,4.103
$DEVICE_MAMPS,151.866,80.535,537.667,485.511,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,73.642,0.000,0.000,0.000,0.000,0.000,0.000,2339.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3322,114
$CFSIZE,260034560,248553472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,202159,4743.044,-12250.875,11,2.1,30,18.3