version: 66.02
glider: 107
mission: 10
dive: 28
start: 9 30 107 22 49 51
data:
$ID,107
$MISSION,10
$DIVE,28
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,70
$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,-15364.515
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,223937,4739.154,-12252.895,18,1.4,27,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.8
$GPS2,224845,4739.221,-12252.768,9,2.0,9,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,-0.140
$KALMAN_X,5852.7,163.0,289.6,-5865.0,45.3
$KALMAN_Y,6556.4,185.0,127.7,-7651.5,43.7
$MHEAD_RNG_PITCHd_Wd,208.6,963,-19.3,-8.333
$D_GRID,125
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.60,-97.8,0.0,0.0,0,117,0.00,0.00,-91.40,0.000,2,0.000,0.000,361,2056,3481
$GC,120,-1.60,-97.8,2.1,-3.6,15,151,11.43,2.58,-11.10,0.000,4,0.164,0.067,2378,3454,3814
$GC,184,-1.60,-97.8,6.9,-6.4,25,191,0.00,2.45,0.00,0.000,6,0.000,0.037,2378,2059,3815
$GC,256,-1.60,-97.8,12.0,-7.3,36,263,0.00,2.65,0.00,0.000,4,0.000,0.071,2378,637,3815
$GC,361,-1.60,-97.8,19.6,-7.5,52,368,0.00,2.45,0.00,0.000,6,0.000,0.037,2378,2050,3815
$GC,430,-1.60,-97.8,24.9,-7.7,58,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2051,3814
$GC,620,-1.60,-97.8,39.1,-6.5,73,625,0.00,2.55,0.00,0.000,4,0.000,0.058,2378,3456,3815
$GC,684,-1.60,-97.8,44.0,-7.9,77,692,0.00,2.50,0.00,0.000,6,0.000,0.038,2378,2052,3815
$GC,881,-1.60,-97.8,59.4,-8.3,93,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2049,3814
$GC,1071,-1.60,-97.8,73.9,-7.4,108,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2049,3815
$GC,1259,-1.60,-97.8,88.1,-7.5,123,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2049,3815
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1427,-0.38,0.0,100.3,7.8,136,1509,1.33,0.00,75.28,0.587,6,0.099,0.000,2644,2456,3415
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1512,1.60,97.8,102.5,0.0,143,1593,2.05,0.00,73.95,0.582,6,0.071,0.000,3079,2456,3015
$GC,1782,1.62,109.6,85.0,7.7,165,1795,0.00,2.70,8.38,0.588,4,0.000,0.062,3079,1036,2967
$GC,1821,1.62,111.9,81.7,8.2,168,1825,0.00,2.50,0.00,0.000,6,0.000,0.040,3079,2452,2967
$GC,2023,1.62,111.9,64.9,8.5,184,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2453,2967
$GC,2214,1.62,111.9,47.9,9.5,199,2219,0.00,2.62,0.00,0.000,4,0.000,0.071,3079,3854,2967
$GC,2318,1.62,111.9,38.1,8.5,206,2326,0.00,2.47,0.00,0.000,6,0.000,0.033,3079,2438,2967
$GC,2514,1.62,114.4,22.3,8.2,222,2519,0.00,0.00,3.22,0.581,6,0.000,0.000,3079,2436,2948
$GC,2711,1.63,119.7,6.8,8.0,249,2724,0.00,2.58,3.75,0.564,4,0.000,0.062,3080,1059,2926
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,1.1,1.020703
$STATE,2809,end surface coast,CONTROL_FINISHED_OK
$STATE,2809,begin surface
$SM_CCo,2835,176.35,0.510,0,0,1579,450.13
$SM_GC,0.62,0.00,0.00,176.35,0.000,0.000,0.510,361,2066,1579,-10.90,0.42,450.13
$IRIDIUM_FIX,4722.92,-12254.47,011007,020219
$TT8_MAMPS,0.072098
$HUMID,2003
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,19.80
$XPDR_PINGS,189
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,75.9,999.0
$24V_AH,23.8,3.281
$10V_AH,10.0,2.073
$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,27.250,30.525,164.575,176.350,0.000,77.997,66.583,235.317,47.750,16.600,3633.400,10.618,491.216,1690.804,472.588,443.773,489.686,33.337,733.072,0.000,425.701,0.000,4.066
$DEVICE_MAMPS,164.138,71.331,588.289,510.055,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.658,0.000,0.000,0.000,0.000,0.000,0.000,3650.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6420,264
$CFSIZE,260034560,255922176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,234056,4739.046,-12253.055,7,1.7,19,18.3