version: 66.02
glider: 107
mission: 10
dive: 77
start: 10 2 107 22 57 8
data:
$ID,107
$MISSION,10
$DIVE,77
$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,-16529.525
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,224607,4739.351,-12252.515,14,1.3,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-52.2
$GPS2,225602,4739.458,-12252.383,12,1.2,12,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,S1
$TGT_LATLONG,4738.867,-12253.333
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,-0.148
$KALMAN_X,17647.9,325.1,352.3,-17407.2,84.3
$KALMAN_Y,12514.4,275.5,288.0,-13426.2,122.1
$MHEAD_RNG_PITCHd_Wd,205.2,1614,-19.3,-8.333
$D_GRID,124
$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,22,begin dive
$GC,24,-1.60,-97.8,0.0,0.0,0,117,0.00,0.00,-90.25,0.000,2,0.000,0.000,364,2054,3482
$GC,120,-1.60,-97.8,2.1,-3.9,15,151,11.50,2.65,-11.05,0.000,4,0.162,0.080,2377,646,3814
$GC,310,-1.60,-97.8,17.2,-7.0,44,316,0.00,2.47,0.00,0.000,6,0.000,0.037,2377,2060,3815
$GC,387,-1.60,-97.8,22.4,-6.6,53,391,0.00,2.55,0.00,0.000,4,0.000,0.055,2377,3462,3816
$GC,438,-1.60,-97.8,26.0,-6.7,56,446,0.00,2.53,0.00,0.000,6,0.000,0.038,2377,2041,3816
$GC,634,-1.60,-97.8,40.4,-7.9,72,639,0.00,2.55,0.00,0.000,4,0.000,0.055,2379,3450,3815
$GC,666,-1.60,-97.8,42.8,-8.3,74,673,0.00,2.50,0.00,0.000,6,0.000,0.038,2377,2051,3816
$GC,862,-1.60,-97.8,56.2,-6.5,90,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2051,3816
$GC,1053,-1.60,-97.8,68.2,-6.4,105,1057,0.00,2.55,0.00,0.000,4,0.000,0.057,2377,3452,3816
$GC,1116,-1.60,-97.8,72.5,-6.4,109,1124,0.00,2.50,0.00,0.000,6,0.000,0.039,2377,2052,3816
$GC,1313,-1.60,-97.8,84.9,-6.8,125,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2049,3816
$GC,1503,-1.60,-97.8,99.5,-7.8,140,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2049,3816
$STATE,1513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1513,begin apogee
$GC,1518,-0.38,0.0,100.5,7.8,141,1600,1.33,0.00,75.68,0.575,6,0.096,0.000,2643,2454,3414
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1603,1.60,97.8,103.2,0.0,148,1686,2.05,2.70,74.05,0.570,4,0.069,0.067,3081,3848,3015
$GC,1712,1.63,122.1,97.8,6.9,157,1737,0.00,2.47,17.80,0.579,6,0.000,0.035,3081,2432,2916
$GC,1925,1.64,126.6,80.9,8.1,174,1930,0.00,0.00,3.00,0.605,6,0.000,0.000,3081,2431,2899
$GC,2114,1.64,126.6,64.7,8.5,189,2118,0.00,2.65,0.00,0.000,4,0.000,0.066,3081,3851,2899
$GC,2159,1.64,126.6,60.5,9.2,192,2166,0.00,2.55,0.00,0.000,6,0.000,0.033,3080,2446,2899
$GC,2355,1.64,126.6,43.7,8.5,208,2359,0.00,2.62,0.00,0.000,4,0.000,0.065,3080,3852,2899
$GC,2413,1.64,126.6,38.3,9.3,212,2421,0.00,2.47,0.00,0.000,6,0.000,0.033,3081,2442,2899
$GC,2609,1.64,126.6,21.4,8.4,228,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2440,2899
$GC,2807,1.65,139.8,4.7,7.6,256,2826,0.00,2.72,9.65,0.541,4,0.000,0.063,3081,3848,2844
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2850,begin surface coast
$FINISH,0.1,1.021702
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2906,158.93,0.503,0,0,1580,450.13
$SM_GC,0.58,0.00,0.00,158.93,0.000,0.000,0.503,362,2058,1580,-10.89,0.23,450.13
$IRIDIUM_FIX,4722.92,-12254.47,031007,020259
$TT8_MAMPS,0.072098
$HUMID,2010
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.80
$XPDR_PINGS,179
$ALTIM_TOP_PING,9.6,9.4
$ALTIM_BOTTOM_PING,75.3,999.0
$24V_AH,23.4,8.242
$10V_AH,10.1,5.669
$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,26.900,42.450,180.175,158.925,0.000,80.507,68.038,273.716,45.250,277.780,3497.220,12.985,497.370,1707.887,475.112,468.354,539.268,33.331,753.395,0.000,443.271,0.000,4.112
$DEVICE_MAMPS,161.837,79.768,605.163,503.152,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.402,0.000,0.000,0.000,0.000,0.000,0.000,3775.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6451,267
$CFSIZE,260034560,254287872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,234857,4739.367,-12252.527,11,1.5,11,18.3