version: 66.02
glider: 107
mission: 10
dive: 9
start: 9 30 107 5 33 36
data:
$ID,107
$MISSION,10
$DIVE,9
$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,30
$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,-14960.067
$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,21
$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
$GPS1,052733,4739.802,-12252.005,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-50.3
$GPS2,053232,4739.878,-12251.900,11,1.7,16,18.3
$SPEED_LIMITS,0.192,0.222
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,-0.158
$KALMAN_X,1569.6,635.1,183.4,-869.3,123.8
$KALMAN_Y,1440.0,700.4,150.5,-1862.6,93.9
$MHEAD_RNG_PITCHd_Wd,206.3,986,-24.3,-11.111
$D_GRID,121
$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,-1.99,-97.8,0.0,0.0,0,112,0.00,0.00,-85.47,0.000,2,0.000,0.000,363,2051,3359
$GC,114,-1.99,-97.8,2.1,-5.4,14,145,11.27,0.00,-16.10,0.000,6,0.176,0.000,2292,2051,3815
$GC,211,-1.99,-97.8,9.7,-8.4,29,217,0.00,2.58,0.00,0.000,4,0.000,0.057,2293,3461,3815
$GC,236,-1.99,-97.8,11.4,-7.0,33,243,0.00,2.50,0.00,0.000,6,0.000,0.038,2292,2038,3815
$GC,308,-1.99,-97.8,17.4,-8.8,44,315,0.00,2.60,0.00,0.000,4,0.000,0.073,2293,646,3815
$GC,406,-1.99,-97.8,27.4,-10.3,54,413,0.00,2.50,0.00,0.000,6,0.000,0.038,2293,2054,3815
$GC,602,-1.99,-97.8,46.9,-9.8,70,606,0.00,2.62,0.00,0.000,4,0.000,0.071,2293,644,3816
$GC,656,-1.99,-97.8,52.4,-11.0,74,660,0.00,2.47,0.00,0.000,6,0.000,0.039,2293,2054,3816
$GC,851,-1.99,-97.8,71.9,-9.8,89,855,0.00,2.55,0.00,0.000,4,0.000,0.060,2292,3455,3816
$GC,883,-1.99,-97.8,75.2,-10.6,91,890,0.00,2.50,0.00,0.000,6,0.000,0.040,2293,2055,3816
$GC,1079,-1.99,-97.8,93.3,-8.7,107,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2054,3816
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1158,-0.38,0.0,100.1,9.2,113,1240,1.77,0.00,75.25,0.582,6,0.110,0.000,2642,2457,3414
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1242,1.99,97.8,102.1,0.0,120,1328,2.42,2.70,73.60,0.576,4,0.074,0.071,3165,3851,3015
$GC,1367,2.00,107.1,93.4,10.4,130,1381,0.00,2.47,6.72,0.591,6,0.000,0.033,3165,2431,2977
$GC,1568,2.01,113.9,72.7,10.6,146,1575,0.00,0.00,4.80,0.589,6,0.000,0.000,3165,2430,2950
$GC,1757,2.03,128.2,53.9,10.0,161,1774,0.00,2.72,10.40,0.563,4,0.000,0.068,3165,3848,2892
$GC,1854,2.03,130.2,43.2,11.0,168,1861,0.00,2.45,0.00,0.000,6,0.000,0.033,3165,2453,2892
$GC,2050,2.04,136.5,22.7,10.6,184,2062,0.00,0.00,6.20,0.561,6,0.000,0.000,3165,2450,2857
$STATE,2238,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,0.3,1.021851
$STATE,2253,end surface coast,CONTROL_FINISHED_OK
$STATE,2253,begin surface
$SM_CCo,2277,158.88,0.503,0,0,1579,450.13
$SM_GC,0.60,0.00,0.00,158.88,0.000,0.000,0.503,365,2059,1579,-10.88,0.25,450.13
$IRIDIUM_FIX,4719.74,-12251.79,300907,080821
$TT8_MAMPS,0.072098
$HUMID,2021
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.90
$XPDR_PINGS,141
$ALTIM_TOP_PING,9.5,9.1
$ALTIM_BOTTOM_PING,75.2,999.0
$24V_AH,23.8,1.031
$10V_AH,10.0,0.767
$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,27.975,32.125,176.975,158.875,0.000,38.753,35.847,119.897,35.750,4.150,2838.850,16.093,405.885,1215.983,456.047,392.529,292.706,33.323,700.823,0.000,370.504,0.000,4.108
$DEVICE_MAMPS,175.643,72.865,591.357,503.152,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.022,0.000,0.000,0.000,0.000,0.000,0.000,2843.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,212
$CFSIZE,260034560,256516096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,061457,4739.858,-12251.931,11,1.4,11,18.3