version: 66.02
glider: 107
mission: 10
dive: 166
start: 10 6 107 15 16 5
data:
$ID,107
$MISSION,10
$DIVE,166
$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,25
$T_MISSION,90
$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,25
$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,-18537.418
$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,29
$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
$GPS1,150453,4743.577,-12250.879,12,3.1,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-47.9
$GPS2,151441,4743.625,-12250.839,12,3.2,31,18.3
$SPEED_LIMITS,0.229,0.239
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,-0.125
$KALMAN_X,14950.8,26.8,36.1,-12167.1,17.3
$KALMAN_Y,11384.3,-115.0,-29.3,-3865.5,-32.1
$MHEAD_RNG_PITCHd_Wd,104.8,183,-22.6,-10.667
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.86,-97.8,0.0,0.0,0,112,0.00,0.00,-84.93,0.000,2,0.000,0.000,362,2050,3377
$GC,115,-1.86,-97.8,2.1,-4.5,14,152,10.68,2.60,-16.38,0.000,4,0.151,0.068,2321,3459,3814
$GC,383,-1.86,-97.8,24.4,-7.8,51,390,0.00,2.47,0.00,0.000,6,0.000,0.038,2320,2050,3814
$GC,579,-1.86,-97.8,39.0,-7.4,67,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2048,3815
$GC,772,-1.86,-97.8,53.4,-7.6,82,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2048,3815
$GC,959,-1.86,-97.8,67.5,-7.2,97,963,0.00,2.53,0.00,0.000,4,0.000,0.056,2321,3451,3815
$GC,992,-1.86,-97.8,70.0,-7.8,99,996,0.00,2.45,0.00,0.000,6,0.000,0.039,2321,2045,3815
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1142,-0.38,0.0,80.7,7.3,110,1222,1.55,0.00,75.10,0.556,6,0.094,0.000,2641,2456,3414
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1225,1.86,97.8,82.7,0.0,117,1306,2.25,0.00,73.60,0.550,6,0.064,0.000,3131,2456,3014
$GC,1495,1.88,112.7,60.6,9.7,139,1511,0.00,2.62,10.50,0.559,4,0.000,0.065,3131,3850,2955
$GC,1559,1.88,114.9,53.9,10.5,144,1566,0.00,2.42,1.50,0.621,6,0.000,0.034,3130,2442,2947
$GC,1755,1.90,132.3,34.6,9.5,159,1773,0.00,2.62,13.12,0.542,4,0.000,0.064,3132,3854,2874
$GC,1799,1.91,135.5,30.0,10.5,162,1806,0.00,2.42,2.03,0.588,6,0.000,0.034,3131,2444,2862
$GC,2001,1.93,158.0,9.6,9.2,184,2026,0.00,2.65,16.58,0.523,4,0.000,0.063,3131,3848,2770
$STATE,2096,end climb,SURFACE_DEPTH_REACHED
$STATE,2096,begin surface coast
$FINISH,0.1,1.022098
$STATE,2124,end surface coast,CONTROL_FINISHED_OK
$STATE,2124,begin surface
$SM_CCo,2152,146.77,0.494,0,0,1579,450.13
$SM_GC,0.60,0.00,0.00,146.77,0.000,0.000,0.494,357,2048,1579,-10.92,-0.06,450.13
$IRIDIUM_FIX,4726.11,-12252.58,061007,191951
$TT8_MAMPS,0.070564
$HUMID,2012
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,135
$ALTIM_TOP_PING,9.6,999.0
$ALTIM_BOTTOM_PING,55.3,999.0
$24V_AH,23.9,16.240
$10V_AH,10.1,12.373
$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,26.475,26.725,192.425,146.775,0.000,79.079,70.911,233.312,34.250,0.000,3025.000,32.276,398.486,1198.569,444.494,378.078,514.856,33.328,663.284,0.000,337.727,0.000,5.640
$DEVICE_MAMPS,151.099,68.263,620.503,493.948,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.867,0.000,0.000,0.000,0.000,0.000,0.000,3025.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,203
$CFSIZE,260034560,251506688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,155529,4743.566,-12250.481,10,2.3,29,18.3