version: 66.02
glider: 107
mission: 10
dive: 193
start: 10 7 107 9 11 58
data:
$ID,107
$MISSION,10
$DIVE,193
$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,-19124.008
$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,21
$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
$GPS1,090435,4743.097,-12250.758,8,2.5,27,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-45.5
$GPS2,091033,4743.152,-12250.783,14,1.9,14,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,-0.308
$KALMAN_X,16904.1,445.9,49.6,-14483.3,-40.6
$KALMAN_Y,14129.9,730.8,303.8,-8670.5,-1.3
$MHEAD_RNG_PITCHd_Wd,161.9,194,-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,-97.8,0.0,0.0,0,131,0.00,0.00,-102.68,0.000,2,0.000,0.000,359,2050,3688
$GC,135,-2.30,-97.8,2.3,-5.9,17,154,10.27,0.00,-4.00,0.000,6,0.155,0.000,2227,2050,3814
$GC,222,-2.30,-97.8,11.7,-10.7,30,228,0.00,2.60,0.00,0.000,4,0.000,0.069,2227,639,3814
$GC,315,-2.30,-97.8,21.3,-11.6,44,319,0.00,2.47,0.00,0.000,6,0.000,0.037,2227,2063,3815
$GC,510,-2.30,-97.8,42.3,-9.9,59,515,0.00,2.50,0.00,0.000,4,0.000,0.056,2227,3458,3815
$GC,575,-2.30,-97.8,48.9,-10.2,63,582,0.00,2.47,0.00,0.000,6,0.000,0.038,2227,2053,3814
$GC,771,-2.30,-97.8,68.4,-10.2,79,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2051,3814
$STATE,895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,895,begin apogee
$GC,901,-0.38,0.0,81.2,10.2,89,983,2.08,0.00,75.03,0.561,6,0.104,0.000,2645,2460,3415
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,2.30,97.8,83.6,0.0,96,1072,2.65,2.62,73.28,0.553,4,0.064,0.064,3233,3847,3015
$GC,1157,2.38,160.0,67.2,12.8,109,1213,0.00,2.45,46.42,0.545,6,0.000,0.035,3233,2444,2762
$GC,1402,2.43,202.2,33.5,14.4,129,1438,0.12,0.00,31.05,0.528,6,0.071,0.000,3263,2441,2590
$STATE,1585,end climb,SURFACE_DEPTH_REACHED
$STATE,1585,begin surface coast
$FINISH,0.1,1.011783
$STATE,1599,end surface coast,CONTROL_FINISHED_OK
$STATE,1600,begin surface
$SM_CCo,1627,125.40,0.495,0,0,1580,450.13
$SM_GC,0.59,0.00,0.00,125.40,0.000,0.000,0.495,357,2046,1580,-10.91,-0.11,450.13
$IRIDIUM_FIX,4726.11,-12250.84,071007,121250
$TT8_MAMPS,0.072098
$HUMID,2007
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.70
$XPDR_PINGS,90
$ALTIM_TOP_PING,9.2,999.0
$ALTIM_BOTTOM_PING,55.7,999.0
$24V_AH,23.8,18.259
$10V_AH,10.1,13.788
$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,27.800,16.575,225.775,125.400,0.000,40.227,36.027,159.083,23.000,0.000,2260.000,14.339,305.275,757.559,442.487,297.407,355.891,33.318,641.398,0.000,275.614,0.000,4.060
$DEVICE_MAMPS,154.934,69.030,560.677,494.715,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,100.372,0.000,0.000,0.000,0.000,0.000,0.000,2260.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3319,153
$CFSIZE,260034560,250707968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,094157,4743.071,-12250.745,11,1.7,11,18.3