version: 66.02
glider: 107
mission: 10
dive: 184
start: 10 7 107 3 26 59
data:
$ID,107
$MISSION,10
$DIVE,184
$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,-18948.027
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,031913,4743.065,-12250.811,10,1.8,20,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-45.5
$GPS2,032535,4743.138,-12250.809,13,5.8,32,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.008,-0.308
$KALMAN_X,16682.0,524.3,188.9,-14509.8,-5.8
$KALMAN_Y,12877.8,391.8,188.7,-6988.9,25.8
$MHEAD_RNG_PITCHd_Wd,163.1,164,-28.4,-17.778
$D_GRID,165
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.30,-97.8,0.0,0.0,0,119,0.00,0.00,-90.90,0.000,2,0.000,0.000,360,2046,3453
$GC,123,-2.30,-97.8,2.0,-4.5,15,154,10.27,0.00,-13.75,0.000,6,0.156,0.000,2226,2046,3813
$GC,220,-2.30,-97.8,9.9,-10.4,30,226,0.00,2.58,0.00,0.000,4,0.000,0.069,2226,646,3814
$GC,232,-2.30,-97.8,11.3,-10.7,32,239,0.00,2.42,0.00,0.000,6,0.000,0.036,2226,2053,3814
$GC,305,-2.30,-97.8,17.4,-7.3,43,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2054,3814
$GC,375,-2.30,-97.8,23.7,-9.3,51,379,0.00,2.53,0.00,0.000,4,0.000,0.056,2226,3460,3815
$GC,421,-2.30,-97.8,28.2,-9.9,54,425,0.00,2.45,0.00,0.000,6,0.000,0.038,2226,2050,3814
$GC,616,-2.30,-97.8,47.1,-10.0,69,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2048,3814
$GC,807,-2.30,-97.8,65.0,-9.3,84,811,0.00,2.53,0.00,0.000,4,0.000,0.056,2226,3450,3815
$GC,858,-2.30,-97.8,70.4,-9.9,87,865,0.00,2.47,0.00,0.000,6,0.000,0.039,2226,2049,3814
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,971,-0.38,0.0,80.6,9.6,96,1051,2.03,0.00,75.15,0.561,6,0.104,0.000,2638,2458,3414
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,2.30,97.8,82.8,0.0,103,1140,2.70,2.65,73.25,0.555,4,0.064,0.065,3234,3852,3015
$GC,1179,2.38,159.9,71.9,12.8,113,1232,0.00,2.45,46.40,0.549,6,0.000,0.035,3234,2439,2762
$GC,1430,2.42,193.6,35.6,15.1,133,1457,0.10,0.00,24.50,0.532,6,0.077,0.000,3258,2436,2624
$STATE,1632,end climb,SURFACE_DEPTH_REACHED
$STATE,1633,begin surface coast
$FINISH,0.0,1.010836
$STATE,1649,end surface coast,CONTROL_FINISHED_OK
$STATE,1649,begin surface
$SM_CCo,1674,130.43,0.495,0,0,1579,450.13
$SM_GC,0.51,0.00,0.00,130.43,0.000,0.000,0.495,360,2042,1579,-10.90,-0.23,450.13
$IRIDIUM_FIX,4726.11,-12255.26,071007,060624
$TT8_MAMPS,0.072865
$HUMID,2001
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,94
$ALTIM_TOP_PING,9.0,8.7
$ALTIM_BOTTOM_PING,55.6,999.0
$24V_AH,23.6,17.595
$10V_AH,10.1,13.330
$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,27.725,21.500,219.300,130.425,0.000,41.045,43.972,154.771,24.000,0.000,2327.000,33.301,321.895,777.390,441.058,329.783,363.538,33.317,652.120,0.000,287.615,0.000,4.109
$DEVICE_MAMPS,155.701,69.030,561.444,495.482,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.461,0.000,0.000,0.000,0.000,0.000,0.000,2327.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3311,159
$CFSIZE,260034560,250961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,035808,4743.050,-12250.774,12,1.3,29,18.3