version: 66.02
glider: 107
mission: 10
dive: 286
start: 10 10 107 9 47 15
data:
$ID,107
$MISSION,10
$DIVE,286
$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,30
$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,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,-21322.953
$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,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
$GPS1,093003,4744.319,-12250.070,10,1.6,10,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-48.3
$GPS2,094609,4744.486,-12250.013,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.122,-0.211
$KALMAN_X,14050.5,213.6,121.1,-10508.2,60.5
$KALMAN_Y,17016.5,331.8,229.1,-8613.3,73.5
$MHEAD_RNG_PITCHd_Wd,191.8,1926,-19.6,-10.000
$D_GRID,174
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.66,-127.1,0.0,0.0,0,129,0.00,0.00,-96.35,0.000,2,0.000,0.000,357,2052,3537
$GC,135,-1.66,-127.1,2.1,-5.0,16,166,10.85,2.60,-13.25,0.000,4,0.148,0.077,2365,636,3933
$GC,226,-1.66,-127.1,10.1,-8.8,30,232,0.00,2.45,0.00,0.000,6,0.000,0.036,2365,2056,3935
$GC,299,-1.66,-127.1,15.5,-7.8,41,305,0.00,2.50,0.00,0.000,4,0.000,0.056,2365,3453,3935
$GC,332,-1.66,-127.1,18.0,-7.8,46,338,0.00,2.45,0.00,0.000,6,0.000,0.038,2366,2037,3935
$GC,409,-1.66,-127.1,24.1,-7.3,54,414,0.00,2.55,0.00,0.000,4,0.000,0.070,2365,645,3935
$GC,469,-1.66,-127.1,28.9,-8.2,58,473,0.00,2.45,0.00,0.000,6,0.000,0.037,2366,2059,3935
$GC,665,-1.66,-127.1,43.9,-7.4,73,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2060,3935
$GC,856,-1.66,-127.1,58.7,-7.9,88,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2060,3935
$GC,1046,-1.66,-127.1,73.9,-7.9,103,1049,0.00,2.47,0.00,0.000,4,0.000,0.058,2365,3451,3935
$GC,1077,-1.66,-127.1,76.7,-8.4,105,1084,0.00,2.45,0.00,0.000,6,0.000,0.038,2366,2044,3935
$STATE,1258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1258,begin apogee
$GC,1266,-0.38,0.0,90.8,7.6,120,1370,1.33,0.00,97.57,0.567,6,0.091,0.000,2641,2453,3414
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1374,1.66,127.1,92.9,0.0,129,1478,2.05,0.00,95.82,0.560,6,0.063,0.000,3090,2453,2895
$GC,1668,1.67,127.7,68.7,10.0,153,1672,0.00,2.58,0.00,0.000,4,0.000,0.065,3090,3853,2894
$GC,1692,1.67,127.7,66.0,10.2,154,1700,0.00,2.45,0.00,0.000,6,0.000,0.034,3090,2447,2894
$GC,1889,1.68,142.0,47.6,9.2,170,1906,0.00,2.65,10.68,0.551,4,0.000,0.064,3090,3851,2835
$GC,1933,1.68,142.4,43.2,10.0,173,1940,0.00,2.42,0.00,0.000,6,0.000,0.034,3090,2445,2834
$GC,2130,1.69,149.9,24.5,9.6,189,2141,0.00,0.00,5.72,0.554,6,0.000,0.000,3090,2443,2802
$GC,2339,1.73,182.7,5.9,8.3,217,2370,0.00,2.62,23.95,0.520,4,0.000,0.064,3090,3848,2669
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,0.0,1.022222
$STATE,2404,end surface coast,CONTROL_FINISHED_OK
$STATE,2404,begin surface
$SM_CCo,2433,251.12,0.495,0,0,679,671.14
$SM_GC,0.21,0.00,0.00,251.12,0.000,0.000,0.495,358,2060,679,-10.91,0.25,671.14
$IRIDIUM_FIX,4726.11,-12248.15,101007,131335
$TT8_MAMPS,0.072865
$HUMID,1991
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,19.80
$XPDR_PINGS,151
$ALTIM_TOP_PING,9.6,9.6
$ALTIM_BOTTOM_PING,66.0,999.0
$24V_AH,23.9,26.360
$10V_AH,10.1,19.578
$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,26.175,36.600,233.750,251.125,0.000,198.086,397.146,0.000,38.250,0.000,3647.000,13.606,413.489,1500.285,609.606,384.317,769.144,33.339,858.271,0.000,369.064,0.000,4.109
$DEVICE_MAMPS,148.031,77.467,566.813,494.715,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.207,0.000,0.000,0.000,0.000,0.000,0.000,3647.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6448,227
$CFSIZE,260034560,248033280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,103328,4744.359,-12250.120,32,2.7,51,18.3