version: 66.02
glider: 107
mission: 10
dive: 52
start: 10 1 107 21 45 38
data:
$ID,107
$MISSION,10
$DIVE,52
$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,-15928.873
$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
$GPS1,213903,4738.640,-12253.278,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-57.1
$GPS2,214433,4738.675,-12253.146,15,1.4,15,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S2
$TGT_LATLONG,4737.767,-12254.100
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.147,-0.142
$KALMAN_X,11362.6,-16.4,212.4,-11594.6,151.2
$KALMAN_Y,9051.8,-79.9,166.1,-10931.2,54.4
$MHEAD_RNG_PITCHd_Wd,207.7,2060,-19.3,-8.333
$D_GRID,138
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.60,-97.8,0.0,0.0,0,106,0.00,0.00,-79.45,0.000,2,0.000,0.000,365,2053,3309
$GC,108,-1.60,-97.8,2.0,-3.3,13,146,11.27,2.55,-18.83,0.000,4,0.160,0.067,2375,3454,3813
$GC,192,-1.60,-97.8,6.7,-6.8,26,198,0.00,2.45,0.00,0.000,6,0.000,0.037,2375,2053,3814
$GC,264,-1.60,-97.8,11.3,-7.0,37,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2052,3814
$GC,335,-1.60,-97.8,16.9,-7.5,48,341,0.00,2.55,0.00,0.000,4,0.000,0.055,2375,3459,3814
$GC,387,-1.60,-97.8,20.7,-7.6,56,392,0.00,2.47,0.00,0.000,6,0.000,0.038,2375,2045,3814
$GC,582,-1.60,-97.8,34.7,-7.7,71,587,0.00,2.60,0.00,0.000,4,0.000,0.072,2375,643,3814
$GC,661,-1.60,-97.8,40.7,-7.4,76,668,0.00,2.47,0.00,0.000,6,0.000,0.037,2375,2050,3814
$GC,857,-1.60,-97.8,55.1,-7.6,92,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2052,3814
$GC,1047,-1.60,-97.8,68.7,-7.3,107,1051,0.00,2.53,0.00,0.000,4,0.000,0.058,2375,3450,3814
$GC,1092,-1.60,-97.8,72.1,-7.8,110,1096,0.00,2.45,0.00,0.000,6,0.000,0.040,2376,2052,3815
$GC,1294,-1.60,-97.8,87.2,-7.2,126,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2051,3814
$GC,1484,-1.60,-97.8,99.9,-6.2,141,1488,0.00,2.15,0.00,0.000,3,0.000,0.071,2375,875,3814
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1496,-0.38,0.0,100.3,6.5,141,1575,1.30,0.00,75.12,0.586,6,0.100,0.000,2640,2447,3415
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1578,1.60,97.8,103.0,0.0,148,1664,2.00,2.70,73.53,0.580,4,0.071,0.070,3077,3848,3015
$GC,1708,1.61,105.0,95.0,7.9,158,1720,0.00,2.47,4.95,0.604,6,0.000,0.035,3077,2445,2986
$GC,1917,1.62,110.3,78.0,8.0,175,1930,0.00,2.65,3.65,0.606,4,0.000,0.065,3077,1043,2965
$GC,1969,1.63,120.6,73.9,7.7,179,1983,0.00,2.50,7.50,0.584,6,0.000,0.041,3077,2461,2923
$GC,2171,1.63,120.6,56.5,9.0,195,2175,0.00,2.58,0.00,0.000,4,0.000,0.068,3077,3847,2922
$GC,2221,1.63,120.6,51.7,9.4,198,2229,0.00,2.45,0.00,0.000,6,0.000,0.033,3077,2449,2922
$GC,2418,1.64,129.0,35.1,7.8,214,2431,0.00,2.62,6.32,0.568,4,0.000,0.067,3077,3848,2887
$GC,2449,1.64,129.0,32.1,9.2,216,2457,0.00,2.45,0.00,0.000,6,0.000,0.032,3077,2447,2887
$GC,2648,1.66,143.7,16.5,7.5,235,2661,0.00,0.00,10.65,0.546,6,0.000,0.000,3077,2444,2829
$GC,2727,1.69,169.1,10.9,6.9,247,2752,0.00,2.65,18.75,0.535,4,0.000,0.066,3077,3856,2724
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2863,begin surface coast
$FINISH,0.0,1.017499
$STATE,2943,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,2970,151.25,0.510,0,0,1580,450.13
$SM_GC,0.83,0.00,0.00,151.25,0.000,0.000,0.510,362,2048,1580,-10.89,-0.06,450.13
$IRIDIUM_FIX,4722.92,-12256.21,021007,000052
$TT8_MAMPS,0.075166
$HUMID,2022
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,193
$ALTIM_TOP_PING,9.9,9.7
$ALTIM_BOTTOM_PING,75.9,999.0
$24V_AH,23.8,5.278
$10V_AH,10.1,3.788
$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,26.550,51.325,200.475,151.250,0.000,38.207,45.952,141.168,48.750,0.000,3574.000,15.321,518.807,1640.920,478.183,506.208,334.030,33.340,787.053,0.000,478.674,0.000,4.125
$DEVICE_MAMPS,160.303,72.098,605.930,510.055,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.851,0.000,0.000,0.000,0.000,0.000,0.000,3574.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6437,280
$CFSIZE,260034560,255143936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,223855,4738.489,-12253.155,25,1.4,42,18.3