version: 66.02
glider: 107
mission: 10
dive: 187
start: 10 7 107 5 21 10
data:
$ID,107
$MISSION,10
$DIVE,187
$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,-19016.26
$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,20
$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
$GPS1,051345,4743.037,-12250.776,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.2
$GPS2,051945,4743.115,-12250.759,15,1.6,15,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,-0.296
$KALMAN_X,16807.7,528.4,148.4,-14538.4,-27.5
$KALMAN_Y,13321.9,517.0,240.5,-7654.9,36.7
$MHEAD_RNG_PITCHd_Wd,177.7,141,-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,-96.70,0.000,2,0.000,0.000,360,2050,3583
$GC,129,-2.30,-97.8,2.2,-5.1,16,155,10.30,2.60,-7.90,0.000,4,0.157,0.079,2223,639,3813
$GC,221,-2.30,-97.8,10.7,-8.3,30,227,0.00,2.45,0.00,0.000,6,0.000,0.038,2223,2056,3817
$GC,293,-2.30,-97.8,17.1,-9.1,41,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2057,3814
$GC,363,-2.30,-97.8,24.0,-10.1,49,367,0.00,2.53,0.00,0.000,4,0.000,0.056,2223,3462,3814
$GC,448,-2.30,-97.8,33.3,-10.6,55,453,0.00,2.47,0.00,0.000,6,0.000,0.039,2223,2043,3814
$GC,645,-2.30,-97.8,55.1,-11.3,70,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2042,3814
$GC,835,-2.30,-97.8,76.3,-11.5,85,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2041,3814
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,869,begin apogee
$GC,875,-0.38,0.0,80.8,11.8,88,956,2.10,0.00,74.90,0.562,6,0.104,0.000,2645,2452,3415
$STATE,957,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,959,2.30,97.8,84.5,0.0,95,1045,2.67,2.65,73.25,0.558,4,0.065,0.064,3234,3851,3015
$GC,1077,2.41,185.1,76.3,10.8,104,1148,0.00,2.47,65.12,0.548,6,0.000,0.034,3235,2441,2659
$GC,1346,2.46,227.9,39.8,14.4,126,1384,0.15,2.70,31.27,0.531,4,0.068,0.064,3274,3854,2485
$GC,1429,2.46,227.9,25.2,18.9,132,1437,0.00,2.47,0.00,0.000,6,0.000,0.034,3274,2444,2485
$STATE,1552,end climb,SURFACE_DEPTH_REACHED
$STATE,1552,begin surface coast
$FINISH,0.4,1.022537
$STATE,1560,end surface coast,CONTROL_FINISHED_OK
$STATE,1560,begin surface
$SM_CCo,1587,114.68,0.495,0,0,1579,450.13
$SM_GC,0.57,0.00,0.00,114.68,0.000,0.000,0.495,360,2051,1579,-10.90,0.06,450.13
$IRIDIUM_FIX,4726.11,-12253.53,071007,080855
$TT8_MAMPS,0.071331
$HUMID,2010
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.90
$XPDR_PINGS,85
$ALTIM_TOP_PING,9.8,999.0
$ALTIM_BOTTOM_PING,55.1,999.0
$24V_AH,23.9,17.812
$10V_AH,10.1,13.480
$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,28.000,21.775,244.550,114.675,0.000,32.780,54.167,148.995,21.750,0.000,2204.000,15.337,302.180,702.173,443.530,303.327,358.986,33.318,653.623,0.000,280.193,0.000,4.062
$DEVICE_MAMPS,157.235,79.001,562.211,495.482,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.085,0.000,0.000,0.000,0.000,0.000,0.000,2204.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3330,150
$CFSIZE,260034560,250880000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,055020,4742.992,-12250.784,7,1.7,12,18.3