version: 66.02
glider: 107
mission: 10
dive: 173
start: 10 6 107 20 10 15
data:
$ID,107
$MISSION,10
$DIVE,173
$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,-18691.719
$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,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
$GPS1,200220,4743.376,-12250.440,12,1.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-49.1
$GPS2,200853,4743.418,-12250.366,14,2.1,33,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,-0.240
$KALMAN_X,15739.4,253.3,163.9,-12721.6,43.1
$KALMAN_Y,11964.5,76.9,110.5,-5162.4,41.1
$MHEAD_RNG_PITCHd_Wd,202.6,884,-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,-97.8,0.0,0.0,0,119,0.00,0.00,-89.47,0.000,2,0.000,0.000,359,2051,3476
$GC,123,-2.24,-97.8,2.2,-5.2,15,154,10.32,2.62,-11.60,0.000,4,0.155,0.079,2237,645,3814
$GC,188,-2.24,-97.8,8.7,-11.5,25,195,0.00,2.42,0.00,0.000,6,0.000,0.036,2238,2052,3815
$GC,261,-2.24,-97.8,16.0,-10.5,36,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2053,3815
$GC,331,-2.24,-97.8,22.6,-8.5,45,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2054,3815
$GC,522,-2.24,-97.8,39.8,-9.0,60,526,0.00,2.60,0.00,0.000,4,0.000,0.069,2238,640,3815
$GC,581,-2.24,-97.8,45.5,-9.9,64,585,0.00,2.45,0.00,0.000,6,0.000,0.037,2238,2059,3815
$GC,776,-2.24,-97.8,63.6,-9.5,79,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2059,3815
$STATE,965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,965,begin apogee
$GC,970,-0.38,0.0,81.1,9.1,94,1051,2.00,0.00,75.03,0.558,6,0.107,0.000,2642,2459,3415
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,2.24,97.8,83.0,0.0,101,1139,2.62,2.62,73.10,0.550,4,0.069,0.064,3219,3846,3015
$GC,1192,2.33,168.1,70.1,12.5,112,1253,0.00,2.42,52.53,0.545,6,0.000,0.035,3219,2439,2727
$GC,1442,2.38,212.2,34.8,14.5,132,1480,0.12,2.70,32.28,0.525,4,0.067,0.064,3251,3853,2548
$GC,1520,2.38,212.2,21.7,17.9,138,1523,0.00,2.42,0.00,0.000,6,0.000,0.034,3251,2449,2547
$STATE,1643,end climb,SURFACE_DEPTH_REACHED
$STATE,1643,begin surface coast
$FINISH,0.2,1.022168
$STATE,1657,end surface coast,CONTROL_FINISHED_OK
$STATE,1657,begin surface
$SM_CCo,1684,121.70,0.492,0,0,1579,450.13
$SM_GC,0.62,0.00,0.00,121.70,0.000,0.000,0.492,359,2048,1579,-10.91,-0.06,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,232356
$TT8_MAMPS,0.072098
$HUMID,2000
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,93
$ALTIM_TOP_PING,9.6,10.0
$ALTIM_BOTTOM_PING,55.3,999.0
$24V_AH,23.9,16.770
$10V_AH,10.1,12.751
$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,27.725,21.700,232.925,121.700,0.000,38.989,34.521,173.630,23.750,0.000,2342.000,33.898,316.696,788.576,436.873,334.433,367.739,33.325,649.263,0.000,289.447,0.000,4.113
$DEVICE_MAMPS,154.934,79.001,558.376,491.647,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,103.751,0.000,0.000,0.000,0.000,0.000,0.000,2342.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3299,158
$CFSIZE,260034560,251301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,204109,4743.328,-12250.439,13,1.6,13,18.3