version: 66.02
glider: 107
mission: 10
dive: 174
start: 10 6 107 20 53 8
data:
$ID,107
$MISSION,10
$DIVE,174
$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,-18704.398
$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
$GPS1,204109,4743.328,-12250.439,13,1.6,13,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-46.4
$GPS2,205145,4743.398,-12250.329,12,1.7,12,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.218,-0.232
$KALMAN_X,15855.4,301.5,190.9,-12868.3,17.7
$KALMAN_Y,12047.9,117.9,135.4,-5349.0,19.0
$MHEAD_RNG_PITCHd_Wd,204.9,887,-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,-90.90,0.000,2,0.000,0.000,359,2048,3488
$GC,125,-2.24,-97.8,2.1,-4.5,15,156,10.35,2.62,-11.38,0.000,4,0.156,0.079,2237,646,3815
$GC,202,-2.24,-97.8,9.7,-11.8,27,209,0.00,2.42,0.00,0.000,6,0.000,0.037,2237,2051,3815
$GC,275,-2.24,-97.8,16.9,-10.6,38,281,0.00,2.60,0.00,0.000,4,0.000,0.067,2237,637,3815
$GC,332,-2.24,-97.8,22.7,-9.7,45,340,0.00,2.47,0.00,0.000,6,0.000,0.036,2237,2052,3815
$GC,529,-2.24,-97.8,40.3,-8.8,61,533,0.00,2.60,0.00,0.000,4,0.000,0.067,2236,637,3815
$GC,575,-2.24,-97.8,44.6,-9.2,64,579,0.00,2.45,0.00,0.000,6,0.000,0.037,2237,2053,3815
$GC,770,-2.24,-97.8,61.9,-8.7,79,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2054,3815
$GC,961,-2.24,-97.8,79.4,-9.1,94,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2054,3815
$STATE,970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,976,-0.38,0.0,80.5,9.1,95,1057,2.03,0.00,75.15,0.558,6,0.104,0.000,2643,2452,3415
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1060,2.24,97.8,82.6,0.0,102,1146,2.62,2.65,73.00,0.554,4,0.067,0.065,3221,3848,3015
$GC,1199,2.32,158.9,69.9,13.2,113,1251,0.00,2.42,45.38,0.546,6,0.000,0.035,3221,2442,2767
$GC,1449,2.37,205.2,34.9,14.3,133,1490,0.12,2.67,34.00,0.525,4,0.068,0.064,3254,3852,2578
$GC,1530,2.37,205.2,21.2,18.0,139,1537,0.00,2.45,0.00,0.000,6,0.000,0.034,3253,2450,2577
$STATE,1653,end climb,SURFACE_DEPTH_REACHED
$STATE,1653,begin surface coast
$FINISH,0.0,1.011124
$STATE,1668,end surface coast,CONTROL_FINISHED_OK
$STATE,1668,begin surface
$SM_CCo,1694,125.05,0.492,0,0,1580,450.13
$SM_GC,0.62,0.00,0.00,125.05,0.000,0.000,0.492,361,2046,1580,-10.90,-0.06,450.13
$IRIDIUM_FIX,4729.30,-12248.15,071007,000010
$TT8_MAMPS,0.075933
$HUMID,1989
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,96
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,55.3,999.0
$24V_AH,23.9,16.854
$10V_AH,10.1,12.809
$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,27.650,26.800,227.525,125.050,0.000,71.443,75.924,297.032,24.500,0.000,2581.000,12.051,320.428,844.799,445.381,313.238,578.136,33.325,659.260,0.000,291.509,0.000,4.061
$DEVICE_MAMPS,155.701,79.001,557.609,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.335,0.000,0.000,0.000,0.000,0.000,0.000,2581.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3304,159
$CFSIZE,260034560,251265024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,212435,4743.305,-12250.409,12,7.0,31,18.3