version: 66.02
glider: 107
mission: 10
dive: 171
start: 10 6 107 18 51 45
data:
$ID,107
$MISSION,10
$DIVE,171
$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,-18625.549
$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,24
$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
$GPS1,183656,4743.425,-12250.545,12,1.9,23,18.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-48.8
$GPS2,185023,4743.530,-12250.393,12,2.7,31,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,-0.269
$KALMAN_X,15539.9,184.1,126.5,-12452.0,31.0
$KALMAN_Y,11838.4,18.7,71.4,-4734.5,36.8
$MHEAD_RNG_PITCHd_Wd,193.9,1035,-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,-91.50,0.000,2,0.000,0.000,359,2048,3505
$GC,125,-2.24,-97.8,2.2,-5.3,15,150,10.35,0.00,-10.32,0.000,6,0.156,0.000,2235,2048,3813
$GC,217,-2.24,-97.8,10.9,-10.0,29,223,0.00,2.55,0.00,0.000,4,0.000,0.056,2235,3464,3814
$GC,283,-2.24,-97.8,17.7,-10.9,39,289,0.00,2.47,0.00,0.000,6,0.000,0.038,2235,2045,3814
$GC,359,-2.24,-97.8,24.6,-8.6,47,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2043,3815
$GC,550,-2.24,-97.8,41.1,-8.7,62,554,0.00,2.58,0.00,0.000,4,0.000,0.070,2235,640,3815
$GC,622,-2.24,-97.8,48.1,-9.8,67,626,0.00,2.45,0.00,0.000,6,0.000,0.037,2235,2056,3815
$GC,818,-2.24,-97.8,66.0,-8.9,82,822,0.00,2.50,0.00,0.000,4,0.000,0.056,2235,3454,3815
$GC,837,-2.24,-97.8,67.8,-9.3,83,841,0.00,2.45,0.00,0.000,6,0.000,0.039,2235,2049,3815
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,985,-0.38,0.0,80.7,8.9,94,1067,2.03,0.00,75.15,0.557,6,0.102,0.000,2645,2458,3414
$STATE,1067,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1070,2.24,97.8,82.3,0.0,101,1152,2.62,2.67,73.18,0.550,4,0.064,0.065,3218,3858,3015
$GC,1180,2.33,173.8,73.5,12.1,110,1244,0.00,2.47,56.60,0.544,6,0.000,0.035,3218,2434,2706
$GC,1442,2.39,221.0,36.4,14.2,131,1482,0.15,2.70,34.58,0.524,4,0.064,0.064,3259,3854,2513
$GC,1509,2.39,221.0,24.8,18.3,136,1516,0.00,2.47,0.00,0.000,6,0.000,0.034,3259,2443,2513
$STATE,1645,end climb,SURFACE_DEPTH_REACHED
$STATE,1645,begin surface coast
$FINISH,0.2,1.022122
$STATE,1660,end surface coast,CONTROL_FINISHED_OK
$STATE,1660,begin surface
$SM_CCo,1686,118.00,0.493,0,0,1580,450.13
$SM_GC,0.65,0.00,0.00,118.00,0.000,0.000,0.493,363,2052,1580,-10.89,0.08,450.13
$IRIDIUM_FIX,4726.11,-12242.00,061007,222202
$TT8_MAMPS,0.070564
$HUMID,1998
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.80
$XPDR_PINGS,93
$ALTIM_TOP_PING,9.4,9.0
$ALTIM_BOTTOM_PING,55.7,999.0
$24V_AH,23.9,16.622
$10V_AH,10.1,12.647
$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,27.800,26.750,239.500,118.000,0.000,79.139,88.104,381.701,23.750,0.000,2760.000,32.603,317.618,843.861,442.159,328.673,724.537,33.332,653.831,0.000,286.287,0.000,4.109
$DEVICE_MAMPS,156.468,69.797,556.842,493.181,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,103.047,0.000,0.000,0.000,0.000,0.000,0.000,2760.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3308,157
$CFSIZE,260034560,251363328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,192253,4743.429,-12250.421,8,3.1,27,18.3