version: 66.02
glider: 107
mission: 10
dive: 170
start: 10 6 107 18 5 37
data:
$ID,107
$MISSION,10
$DIVE,170
$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,-18592.316
$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,25
$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
$GPS1,175745,4743.494,-12250.625,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-48.7
$GPS2,180414,4743.542,-12250.562,10,1.2,10,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,-0.298
$KALMAN_X,15377.0,131.0,92.1,-12410.3,20.9
$KALMAN_Y,11722.3,-29.3,32.8,-4507.7,39.8
$MHEAD_RNG_PITCHd_Wd,182.1,965,-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,-91.38,0.000,2,0.000,0.000,363,2056,3522
$GC,125,-2.24,-97.8,2.2,-4.3,15,151,10.40,2.58,-9.62,0.000,4,0.159,0.067,2236,3453,3814
$GC,309,-2.24,-97.8,21.8,-10.4,42,313,0.00,2.42,0.00,0.000,6,0.000,0.038,2236,2048,3815
$GC,511,-2.24,-97.8,40.0,-8.5,58,516,0.00,2.58,0.00,0.000,4,0.000,0.070,2236,646,3815
$GC,597,-2.24,-97.8,47.8,-9.0,64,601,0.00,2.42,0.00,0.000,6,0.000,0.038,2236,2051,3815
$GC,792,-2.24,-97.8,65.6,-9.3,79,796,0.00,2.53,0.00,0.000,4,0.000,0.057,2236,3460,3815
$GC,851,-2.24,-97.8,71.3,-9.7,83,856,0.00,2.47,0.00,0.000,6,0.000,0.041,2236,2040,3815
$STATE,943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,949,-0.38,0.0,80.5,9.8,90,1031,2.03,0.00,75.12,0.555,6,0.102,0.000,2645,2448,3414
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1034,2.24,97.8,82.4,0.0,97,1115,2.62,0.00,73.20,0.548,6,0.063,0.000,3218,2448,3015
$GC,1304,2.34,179.2,54.9,11.7,119,1371,0.00,2.62,60.60,0.530,4,0.000,0.065,3218,3853,2682
$GC,1463,2.37,203.4,31.8,16.0,131,1489,0.12,2.45,17.58,0.527,6,0.069,0.035,3250,2433,2585
$STATE,1655,end climb,SURFACE_DEPTH_REACHED
$STATE,1655,begin surface coast
$FINISH,0.4,1.022116
$STATE,1669,end surface coast,CONTROL_FINISHED_OK
$STATE,1669,begin surface
$SM_CCo,1694,126.53,0.492,0,0,1579,450.13
$SM_GC,0.70,0.00,0.00,126.53,0.000,0.000,0.492,359,2048,1579,-10.91,-0.03,450.13
$IRIDIUM_FIX,4726.11,-12255.26,061007,212122
$TT8_MAMPS,0.072098
$HUMID,2014
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,19.80
$XPDR_PINGS,97
$ALTIM_TOP_PING,9.4,999.0
$ALTIM_BOTTOM_PING,55.1,999.0
$24V_AH,23.9,16.531
$10V_AH,10.1,12.584
$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,27.825,21.500,226.500,126.525,0.000,40.527,35.753,190.878,24.750,0.000,2320.000,10.920,319.418,805.291,429.726,318.148,384.054,33.328,638.302,0.000,296.995,0.000,4.061
$DEVICE_MAMPS,158.769,69.797,554.541,491.647,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,103.473,0.000,0.000,0.000,0.000,0.000,0.000,2320.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,157
$CFSIZE,260034560,251400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,183656,4743.425,-12250.545,12,1.9,23,18.3