version: 66.02
glider: 107
mission: 10
dive: 178
start: 10 6 107 23 30 39
data:
$ID,107
$MISSION,10
$DIVE,178
$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,-18801.67
$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,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
$GPS1,232235,4743.155,-12250.598,11,2.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-47.0
$GPS2,232917,4743.199,-12250.536,12,2.5,31,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,-0.203
$KALMAN_X,16191.6,413.6,213.9,-13596.4,-0.6
$KALMAN_Y,12270.1,211.1,154.2,-6052.2,8.2
$MHEAD_RNG_PITCHd_Wd,212.1,446,-27.6,-17.778
$D_GRID,166
$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,-97.8,0.0,0.0,0,125,0.00,0.00,-95.28,0.000,2,0.000,0.000,358,2056,3579
$GC,129,-2.24,-97.8,2.3,-4.9,16,154,10.38,2.60,-7.55,0.000,4,0.157,0.078,2237,645,3814
$GC,196,-2.24,-97.8,9.8,-11.7,26,202,0.00,2.45,0.00,0.000,6,0.000,0.036,2237,2059,3815
$GC,268,-2.24,-97.8,16.9,-8.1,37,274,0.00,2.60,0.00,0.000,4,0.000,0.067,2237,643,3815
$GC,360,-2.24,-97.8,25.5,-9.3,47,364,0.00,2.45,0.00,0.000,6,0.000,0.037,2237,2059,3814
$GC,555,-2.24,-97.8,43.2,-9.1,62,560,0.00,2.60,0.00,0.000,4,0.000,0.068,2236,646,3814
$GC,641,-2.24,-97.8,51.4,-10.2,68,645,0.00,2.45,0.00,0.000,6,0.000,0.038,2237,2059,3815
$GC,836,-2.24,-97.8,69.6,-9.1,83,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2059,3815
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,954,-0.38,0.0,80.4,9.5,92,1035,2.03,0.00,75.03,0.559,6,0.106,0.000,2643,2459,3414
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1038,2.24,97.8,82.6,0.0,99,1120,2.65,2.65,73.12,0.552,4,0.068,0.065,3214,3850,3016
$GC,1147,2.34,179.0,74.0,11.7,108,1213,0.12,2.45,60.28,0.545,6,0.074,0.035,3244,2434,2684
$GC,1403,2.38,207.4,34.8,15.6,128,1431,0.00,2.70,20.73,0.530,4,0.000,0.063,3244,3851,2568
$GC,1479,2.38,207.4,21.8,18.3,134,1483,0.00,2.42,0.00,0.000,6,0.000,0.034,3244,2443,2568
$STATE,1601,end climb,SURFACE_DEPTH_REACHED
$STATE,1601,begin surface coast
$FINISH,0.1,1.004000
$STATE,1616,end surface coast,CONTROL_FINISHED_OK
$STATE,1616,begin surface
$SM_CCo,1643,123.68,0.493,0,0,1580,450.13
$SM_GC,0.59,0.00,0.00,123.68,0.000,0.000,0.493,358,2055,1580,-10.91,0.14,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,020257
$TT8_MAMPS,0.073632
$HUMID,2010
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,91
$ALTIM_TOP_PING,9.8,999.0
$ALTIM_BOTTOM_PING,55.5,999.0
$24V_AH,23.9,17.150
$10V_AH,10.1,13.017
$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,27.725,26.775,229.150,123.675,0.000,37.883,39.080,180.688,23.250,0.000,2314.000,32.122,312.063,753.193,436.761,329.492,382.652,33.324,645.443,0.000,286.280,0.000,4.061
$DEVICE_MAMPS,157.235,78.234,559.143,493.181,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.423,0.000,0.000,0.000,0.000,0.000,0.000,2314.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3311,153
$CFSIZE,260034560,251138048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,000051,4743.066,-12250.673,10,1.9,10,18.3