version: 66.02
glider: 107
mission: 10
dive: 186
start: 10 7 107 4 43 29
data:
$ID,107
$MISSION,10
$DIVE,186
$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,-19000.293
$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,30
$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
$GPS1,043553,4743.026,-12250.777,9,2.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.3
$GPS2,044205,4743.124,-12250.770,15,2.5,34,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,-0.302
$KALMAN_X,16752.9,526.6,160.5,-14507.1,-27.0
$KALMAN_Y,13172.8,477.7,225.0,-7435.0,28.9
$MHEAD_RNG_PITCHd_Wd,172.6,149,-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,-97.8,0.0,0.0,0,125,0.00,0.00,-96.80,0.000,2,0.000,0.000,360,2046,3576
$GC,129,-2.30,-97.8,2.1,-5.0,16,155,10.30,2.55,-8.45,0.000,4,0.158,0.067,2222,3455,3813
$GC,161,-2.30,-97.8,4.6,-6.0,21,168,0.00,2.45,0.00,0.000,6,0.000,0.039,2222,2057,3813
$GC,234,-2.30,-97.8,11.2,-9.5,32,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2056,3813
$GC,306,-2.30,-97.8,17.9,-9.3,43,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2056,3814
$GC,382,-2.30,-97.8,24.4,-8.5,51,386,0.00,2.53,0.00,0.000,4,0.000,0.056,2222,3456,3814
$GC,454,-2.30,-97.8,31.7,-10.2,56,458,0.00,2.45,0.00,0.000,6,0.000,0.039,2222,2048,3814
$GC,649,-2.30,-97.8,50.5,-9.7,71,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2046,3814
$GC,840,-2.30,-97.8,69.1,-9.6,86,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2046,3814
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,956,-0.38,0.0,80.1,9.5,95,1037,2.10,0.00,74.75,0.563,6,0.104,0.000,2645,2456,3414
$STATE,1038,end apogee,CONTROL_FINISHED_OK
$STATE,1038,begin climb
$GC,1040,2.30,97.8,82.1,0.0,102,1126,2.65,2.65,73.05,0.555,4,0.064,0.064,3234,3850,3015
$GC,1165,2.38,159.5,71.1,12.9,112,1218,0.00,2.45,46.12,0.548,6,0.000,0.034,3234,2437,2763
$GC,1416,2.43,201.9,35.6,14.4,132,1453,0.12,2.65,30.83,0.528,4,0.071,0.064,3264,3853,2591
$GC,1493,2.43,201.9,22.3,19.0,138,1497,0.00,2.42,0.00,0.000,6,0.000,0.034,3264,2449,2590
$STATE,1609,end climb,SURFACE_DEPTH_REACHED
$STATE,1609,begin surface coast
$FINISH,0.1,1.022561
$STATE,1617,end surface coast,CONTROL_FINISHED_OK
$STATE,1617,begin surface
$SM_CCo,1643,126.97,0.494,0,0,1579,450.13
$SM_GC,0.59,0.00,0.00,126.97,0.000,0.000,0.494,360,2050,1579,-10.90,0.00,450.13
$IRIDIUM_FIX,4726.11,-12253.53,071007,080809
$TT8_MAMPS,0.072098
$HUMID,2002
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,92
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,55.4,999.0
$24V_AH,23.9,17.739
$10V_AH,10.1,13.431
$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,27.875,21.600,224.750,126.975,0.000,37.619,41.632,150.336,23.500,0.000,2292.000,34.963,313.349,756.975,441.247,327.560,350.603,33.320,651.482,0.000,284.227,0.000,4.063
$DEVICE_MAMPS,158.002,66.729,562.978,493.948,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,101.716,0.000,0.000,0.000,0.000,0.000,0.000,2292.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3303,155
$CFSIZE,260034560,250904576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,051345,4743.037,-12250.776,10,1.7,10,18.3