version: 66.02
glider: 107
mission: 10
dive: 181
start: 10 7 107 1 27 23
data:
$ID,107
$MISSION,10
$DIVE,181
$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,-18886.945
$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,22
$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
$GPS1,011947,4743.100,-12250.849,10,4.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-48.0
$GPS2,012559,4743.160,-12250.771,14,4.3,33,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.081,-0.297
$KALMAN_X,16459.1,479.4,205.4,-14215.2,-0.8
$KALMAN_Y,12479.6,284.4,158.5,-6413.7,-5.4
$MHEAD_RNG_PITCHd_Wd,176.9,213,-28.4,-17.778
$D_GRID,165
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.30,-97.8,0.0,0.0,0,118,0.00,0.00,-90.75,0.000,2,0.000,0.000,360,2054,3461
$GC,122,-2.30,-97.8,2.0,-5.1,15,152,10.30,0.00,-12.90,0.000,6,0.156,0.000,2227,2054,3814
$GC,218,-2.30,-97.8,10.4,-10.2,30,224,0.00,2.53,0.00,0.000,4,0.000,0.055,2227,3456,3814
$GC,244,-2.30,-97.8,12.6,-8.5,34,250,0.00,2.47,0.00,0.000,6,0.000,0.038,2226,2038,3814
$GC,317,-2.30,-97.8,18.8,-9.3,45,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2037,3814
$GC,386,-2.30,-97.8,25.4,-9.6,52,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2038,3814
$GC,576,-2.30,-97.8,43.1,-9.5,67,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2037,3815
$GC,766,-2.30,-97.8,61.2,-9.5,82,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2036,3814
$GC,955,-2.30,-97.8,79.4,-9.7,97,959,0.00,2.58,0.00,0.000,4,0.000,0.057,2228,3464,3814
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,971,-0.38,0.0,80.7,9.6,97,1052,2.05,0.00,75.25,0.561,6,0.108,0.000,2646,2432,3414
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1055,2.30,97.8,82.9,0.0,104,1140,2.67,2.60,73.22,0.556,4,0.066,0.061,3233,1049,3015
$GC,1159,2.40,178.8,74.6,11.3,112,1227,0.00,2.50,60.30,0.546,6,0.000,0.038,3233,2459,2685
$GC,1417,2.44,210.1,37.8,15.3,133,1446,0.12,2.62,23.00,0.529,4,0.071,0.067,3262,3840,2557
$GC,1498,2.44,210.1,23.7,18.0,139,1506,0.00,2.42,0.00,0.000,6,0.000,0.033,3262,2448,2557
$STATE,1621,end climb,SURFACE_DEPTH_REACHED
$STATE,1621,begin surface coast
$FINISH,0.8,1.022350
$STATE,1629,end surface coast,CONTROL_FINISHED_OK
$STATE,1629,begin surface
$SM_CCo,1656,122.70,0.492,0,0,1579,450.13
$SM_GC,0.63,0.00,0.00,122.70,0.000,0.000,0.492,357,2052,1579,-10.92,0.06,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,040418
$TT8_MAMPS,0.071331
$HUMID,2015
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,93
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,55.2,999.0
$24V_AH,23.9,17.370
$10V_AH,10.1,13.172
$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,27.775,20.225,231.775,122.700,0.000,39.353,38.842,152.194,23.750,0.000,2303.000,34.766,312.059,767.355,444.174,321.701,352.928,33.315,652.795,0.000,278.943,0.000,4.109
$DEVICE_MAMPS,155.701,66.729,561.444,491.647,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,102.875,0.000,0.000,0.000,0.000,0.000,0.000,2303.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3299,157
$CFSIZE,260034560,251047936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,015809,4743.037,-12250.746,31,1.5,32,18.3