version: 66.02
glider: 107
mission: 10
dive: 43
start: 10 1 107 13 6 52
data:
$ID,107
$MISSION,10
$DIVE,43
$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,-15750.319
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,130008,4738.163,-12253.803,29,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-58.2
$GPS2,130545,4738.195,-12253.722,15,1.2,15,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.100,-0.178
$KALMAN_X,9969.2,424.2,50.2,-11192.6,-89.8
$KALMAN_Y,8664.2,174.4,-63.5,-11456.3,-126.4
$MHEAD_RNG_PITCHd_Wd,190.9,923,-19.3,-8.333
$D_GRID,147
$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,-97.8,0.0,0.0,0,92,0.00,0.00,-67.32,0.000,2,0.000,0.000,363,2050,3077
$GC,95,-1.60,-97.8,2.1,-3.9,11,139,11.32,2.62,-27.00,0.000,4,0.162,0.066,2374,3461,3813
$GC,198,-1.60,-97.8,7.1,-5.2,27,205,0.00,2.47,0.00,0.000,6,0.000,0.037,2374,2048,3814
$GC,270,-1.60,-97.8,11.6,-7.4,38,277,0.00,2.60,0.00,0.000,4,0.000,0.071,2374,650,3814
$GC,428,-1.60,-97.8,24.0,-8.4,59,432,0.00,2.47,0.00,0.000,6,0.000,0.037,2375,2052,3815
$GC,630,-1.60,-97.8,40.3,-8.4,75,634,0.00,2.55,0.00,0.000,4,0.000,0.058,2375,3458,3815
$GC,763,-1.60,-97.8,51.8,-7.9,85,767,0.00,2.47,0.00,0.000,6,0.000,0.039,2375,2050,3815
$GC,958,-1.60,-97.8,67.7,-7.7,100,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2048,3815
$GC,1147,-1.60,-97.8,82.4,-7.4,115,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2048,3815
$GC,1337,-1.60,-97.8,95.8,-6.8,130,1341,0.00,2.55,0.00,0.000,4,0.000,0.058,2375,3451,3815
$GC,1370,-1.60,-97.8,98.0,-6.9,132,1374,0.00,2.47,0.00,0.000,6,0.000,0.041,2375,2041,3815
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$GC,1403,-0.38,0.0,100.1,6.7,134,1486,1.33,0.00,75.28,0.588,6,0.096,0.000,2644,2447,3414
$STATE,1487,end apogee,CONTROL_FINISHED_OK
$STATE,1487,begin climb
$GC,1488,1.60,97.8,101.5,0.0,141,1571,2.05,2.67,73.40,0.578,4,0.069,0.069,3081,3854,3015
$GC,1610,1.62,109.1,94.6,7.7,151,1624,0.00,2.47,8.10,0.595,6,0.000,0.035,3081,2436,2970
$GC,1812,1.63,117.5,79.2,7.9,167,1825,0.00,2.67,6.18,0.588,4,0.000,0.067,3081,3851,2934
$GC,1843,1.63,117.5,76.6,8.4,169,1851,0.00,2.47,0.00,0.000,6,0.000,0.033,3081,2443,2934
$GC,2039,1.63,124.3,60.7,7.9,185,2053,0.00,2.67,4.75,0.588,4,0.000,0.067,3081,3845,2907
$GC,2070,1.63,124.3,57.8,9.4,187,2078,0.00,2.45,0.00,0.000,6,0.000,0.033,3081,2450,2908
$GC,2267,1.63,124.3,41.2,8.7,203,2271,0.00,2.58,0.00,0.000,4,0.000,0.064,3081,1052,2907
$GC,2298,1.64,128.5,38.7,8.1,205,2307,0.00,2.50,3.03,0.583,6,0.000,0.041,3081,2452,2890
$GC,2495,1.66,142.3,22.6,7.5,221,2508,0.00,0.00,9.80,0.549,6,0.000,0.000,3081,2452,2836
$GC,2704,1.68,160.3,6.8,7.3,250,2723,0.00,0.00,13.50,0.538,6,0.000,0.000,3081,2452,2760
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,1.4,1.020122
$STATE,2834,end surface coast,CONTROL_FINISHED_OK
$STATE,2834,begin surface
$SM_CCo,2859,155.35,0.511,0,0,1580,450.13
$SM_GC,0.89,0.00,0.00,155.35,0.000,0.000,0.511,364,2054,1580,-10.89,0.11,450.13
$IRIDIUM_FIX,4716.56,-12127.89,011007,161610
$TT8_MAMPS,0.072098
$HUMID,2001
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,183
$ALTIM_TOP_PING,9.7,999.0
$ALTIM_BOTTOM_PING,75.7,999.0
$24V_AH,23.8,4.538
$10V_AH,10.1,3.140
$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,27.075,42.175,194.025,155.350,0.000,38.676,41.605,149.314,46.250,12.450,3457.550,15.650,507.468,1581.215,465.962,488.135,338.264,33.339,758.058,0.000,462.987,0.000,4.063
$DEVICE_MAMPS,161.837,71.331,595.192,510.822,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.541,0.000,0.000,0.000,0.000,0.000,0.000,3470.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6420,270
$CFSIZE,260034560,255434752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,135808,4737.887,-12254.046,11,1.0,28,18.3