version: 66.02
glider: 107
mission: 10
dive: 192
start: 10 7 107 8 34 16
data:
$ID,107
$MISSION,10
$DIVE,192
$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,-19109.039
$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,31
$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
$GPS1,082651,4743.114,-12250.796,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-45.1
$GPS2,083251,4743.187,-12250.812,13,1.8,13,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.305
$KALMAN_X,16884.8,463.8,65.6,-14533.6,-45.1
$KALMAN_Y,13998.7,701.6,301.4,-8442.6,15.3
$MHEAD_RNG_PITCHd_Wd,153.2,254,-28.4,-17.778
$D_GRID,166
$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,-97.8,0.0,0.0,0,131,0.00,0.00,-102.75,0.000,2,0.000,0.000,361,2036,3679
$GC,135,-2.30,-97.8,2.1,-4.1,17,160,10.23,2.60,-4.55,0.000,4,0.154,0.078,2223,654,3814
$GC,208,-2.30,-97.8,9.9,-10.6,28,214,0.00,2.42,0.00,0.000,6,0.000,0.037,2223,2052,3815
$GC,280,-2.30,-97.8,16.2,-9.0,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2053,3815
$GC,357,-2.30,-97.8,25.1,-12.6,48,361,0.00,2.58,0.00,0.000,4,0.000,0.067,2223,653,3814
$GC,376,-2.30,-97.8,27.9,-13.8,49,380,0.00,2.42,0.00,0.000,6,0.000,0.037,2223,2053,3815
$GC,571,-2.30,-97.8,48.5,-10.2,64,576,0.00,2.58,0.00,0.000,4,0.000,0.069,2223,654,3814
$GC,670,-2.30,-97.8,59.2,-11.2,71,674,0.00,2.42,0.00,0.000,6,0.000,0.038,2223,2052,3815
$GC,866,-2.30,-97.8,78.3,-9.3,86,870,0.00,2.58,0.00,0.000,4,0.000,0.070,2224,654,3815
$STATE,883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,883,begin apogee
$GC,892,-0.38,0.0,80.3,9.6,87,971,2.05,0.00,75.18,0.565,6,0.110,0.000,2640,2445,3415
$STATE,972,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,974,2.30,97.8,82.8,0.0,94,1060,2.72,2.65,73.30,0.555,4,0.070,0.064,3234,3850,3016
$GC,1118,2.37,154.9,69.3,13.2,105,1166,0.00,2.45,42.38,0.544,6,0.000,0.034,3234,2447,2783
$GC,1364,2.43,197.3,35.6,14.4,125,1400,0.10,0.00,31.45,0.528,6,0.077,0.000,3258,2444,2609
$STATE,1586,end climb,SURFACE_DEPTH_REACHED
$STATE,1586,begin surface coast
$FINISH,-0.1,1.013663
$STATE,1602,end surface coast,CONTROL_FINISHED_OK
$STATE,1602,begin surface
$SM_CCo,1627,127.53,0.493,0,0,1580,450.13
$SM_GC,0.58,0.00,0.00,127.53,0.000,0.000,0.493,359,2049,1580,-10.91,0.00,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,111137
$TT8_MAMPS,0.071331
$HUMID,1997
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,89
$ALTIM_TOP_PING,9.3,999.0
$ALTIM_BOTTOM_PING,55.5,999.0
$24V_AH,23.9,18.187
$10V_AH,10.1,13.738
$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,27.800,26.575,222.300,127.525,0.000,38.131,39.022,159.932,22.750,0.000,2239.000,13.560,313.765,738.489,445.472,305.611,360.086,33.315,652.739,0.000,283.002,0.000,4.060
$DEVICE_MAMPS,154.167,78.234,564.512,493.181,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.368,0.000,0.000,0.000,0.000,0.000,0.000,2239.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3302,153
$CFSIZE,260034560,250732544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,090435,4743.097,-12250.758,8,2.5,27,18.3