version: 66.02
glider: 107
mission: 10
dive: 168
start: 10 6 107 16 49 10
data:
$ID,107
$MISSION,10
$DIVE,168
$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,-18564.014
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,164207,4743.602,-12250.636,36,1.5,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-47.0
$GPS2,164745,4743.639,-12250.593,13,1.8,13,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,-0.205
$KALMAN_X,15200.9,71.9,53.0,-12173.8,30.1
$KALMAN_Y,11583.2,-81.9,-12.1,-4091.3,33.0
$MHEAD_RNG_PITCHd_Wd,210.0,216,-28.4,-17.778
$D_GRID,168
$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,-97.8,0.0,0.0,0,112,0.00,0.00,-84.95,0.000,2,0.000,0.000,361,2062,3377
$GC,115,-2.30,-97.8,2.0,-4.5,14,151,10.27,2.67,-16.58,0.000,4,0.156,0.078,2227,639,3814
$GC,179,-2.30,-97.8,6.6,-10.4,24,185,0.00,2.45,0.00,0.000,6,0.000,0.037,2227,2056,3814
$GC,251,-2.30,-97.8,15.0,-10.5,35,258,0.00,2.60,0.00,0.000,4,0.000,0.067,2227,640,3815
$GC,277,-2.30,-97.8,17.8,-10.7,39,283,0.00,2.42,0.00,0.000,6,0.000,0.036,2227,2051,3815
$GC,354,-2.30,-97.8,24.9,-8.8,47,358,0.00,2.60,0.00,0.000,4,0.000,0.067,2227,636,3815
$GC,399,-2.30,-97.8,29.2,-9.2,50,404,0.00,2.45,0.00,0.000,6,0.000,0.037,2227,2054,3815
$GC,595,-2.30,-97.8,47.6,-9.2,65,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2055,3815
$GC,786,-2.30,-97.8,65.4,-9.4,80,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2055,3815
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,939,-0.38,0.0,80.3,9.8,92,1020,2.08,0.00,75.22,0.555,6,0.108,0.000,2641,2453,3414
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1022,begin climb
$GC,1024,2.30,97.8,82.4,0.0,99,1109,2.70,2.65,73.22,0.551,4,0.070,0.064,3233,3850,3015
$GC,1154,2.37,154.9,70.1,13.2,109,1202,0.00,2.47,42.40,0.541,6,0.000,0.034,3234,2439,2783
$GC,1400,2.42,195.2,35.3,14.6,129,1437,0.10,2.65,29.42,0.527,4,0.077,0.064,3258,3852,2619
$GC,1483,2.44,207.8,21.7,16.8,135,1502,0.00,2.42,9.50,0.532,6,0.000,0.035,3258,2445,2566
$STATE,1605,end climb,SURFACE_DEPTH_REACHED
$STATE,1605,begin surface coast
$FINISH,0.1,1.013482
$STATE,1619,end surface coast,CONTROL_FINISHED_OK
$STATE,1620,begin surface
$SM_CCo,1646,124.03,0.491,0,0,1580,450.13
$SM_GC,0.63,0.00,0.00,124.03,0.000,0.000,0.491,362,2054,1580,-10.89,0.11,450.13
$IRIDIUM_FIX,4726.11,-12248.15,061007,191932
$TT8_MAMPS,0.0767
$HUMID,1996
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,91
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,56.0,999.0
$24V_AH,23.9,16.385
$10V_AH,10.1,12.483
$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,27.800,26.825,229.775,124.025,0.000,37.867,37.014,144.215,23.250,0.000,2271.000,13.490,316.918,752.905,444.810,304.791,336.139,33.325,656.910,0.000,283.725,0.000,4.060
$DEVICE_MAMPS,155.701,78.234,554.541,490.880,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,101.472,0.000,0.000,0.000,0.000,0.000,0.000,2271.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3305,155
$CFSIZE,260034560,251461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,171927,4743.566,-12250.694,12,1.6,12,18.3