version: 66.02
glider: 107
mission: 10
dive: 172
start: 10 6 107 19 30 59
data:
$ID,107
$MISSION,10
$DIVE,172
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,100
$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,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,-18657.191
$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,23
$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
$GPS1,192253,4743.429,-12250.421,8,3.1,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.8
$GPS2,192937,4743.472,-12250.347,15,1.6,31,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.198,-0.248
$KALMAN_X,15655.9,221.8,146.9,-12566.7,45.2
$KALMAN_Y,11907.8,47.0,90.2,-4955.5,45.3
$MHEAD_RNG_PITCHd_Wd,200.3,978,-27.6,-17.778
$D_GRID,167
$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,-2.24,-97.8,0.0,0.0,0,121,0.00,0.00,-91.38,0.000,2,0.000,0.000,363,2053,3502
$GC,125,-2.24,-97.8,2.1,-5.1,15,150,10.40,0.00,-10.50,0.000,6,0.158,0.000,2239,2052,3813
$GC,217,-2.24,-97.8,11.1,-9.3,29,223,0.00,2.53,0.00,0.000,4,0.000,0.055,2239,3454,3814
$GC,283,-2.24,-97.8,18.2,-10.4,39,289,0.00,2.45,0.00,0.000,6,0.000,0.039,2239,2038,3814
$GC,360,-2.24,-97.8,24.7,-8.2,47,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2036,3814
$GC,550,-2.24,-97.8,41.2,-8.6,62,554,0.00,2.58,0.00,0.000,4,0.000,0.071,2239,637,3815
$GC,596,-2.24,-97.8,45.5,-9.4,65,600,0.00,2.45,0.00,0.000,6,0.000,0.037,2239,2053,3815
$GC,791,-2.24,-97.8,63.1,-9.0,80,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2054,3814
$GC,984,-2.24,-97.8,80.0,-8.9,95,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2054,3814
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,996,-0.38,0.0,81.1,9.0,96,1078,2.00,0.00,75.05,0.558,6,0.106,0.000,2641,2452,3414
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1081,2.24,97.8,83.2,0.0,103,1163,2.67,2.67,73.15,0.552,4,0.069,0.066,3217,3850,3015
$GC,1195,2.33,172.4,73.8,12.2,112,1256,0.00,2.47,55.50,0.543,6,0.000,0.035,3217,2441,2711
$GC,1446,2.39,218.2,39.0,14.3,132,1487,0.15,2.67,33.50,0.526,4,0.065,0.064,3257,3848,2525
$GC,1527,2.39,218.2,25.0,18.3,138,1534,0.00,2.45,0.00,0.000,6,0.000,0.034,3258,2450,2524
$STATE,1663,end climb,SURFACE_DEPTH_REACHED
$STATE,1663,begin surface coast
$FINISH,0.7,1.022128
$STATE,1671,end surface coast,CONTROL_FINISHED_OK
$STATE,1671,begin surface
$SM_CCo,1698,119.35,0.492,0,0,1579,450.13
$SM_GC,0.66,0.00,0.00,119.35,0.000,0.000,0.492,359,2052,1579,-10.91,0.03,450.13
$IRIDIUM_FIX,2456.07,-11032.15,061007,222236
$TT8_MAMPS,0.075166
$HUMID,2005
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,92
$ALTIM_TOP_PING,9.4,999.0
$ALTIM_BOTTOM_PING,55.3,999.0
$24V_AH,23.9,16.697
$10V_AH,10.1,12.699
$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,27.800,21.700,237.200,119.350,0.000,39.678,33.776,184.972,23.500,0.000,2364.000,31.014,317.967,798.969,440.077,322.706,386.287,33.326,646.331,0.000,280.940,0.000,4.061
$DEVICE_MAMPS,158.002,71.331,557.609,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,103.749,0.000,0.000,0.000,0.000,0.000,0.000,2364.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3298,158
$CFSIZE,260034560,251334656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,200220,4743.376,-12250.440,12,1.3,29,18.3