version: 66.02
glider: 107
mission: 10
dive: 165
start: 10 6 107 14 26 33
data:
$ID,107
$MISSION,10
$DIVE,165
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,25
$T_MISSION,90
$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,25
$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,-18504.514
$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,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
$GPS1,141909,4743.530,-12250.648,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-52.8
$GPS2,142508,4743.539,-12250.644,11,1.5,11,18.3
$SPEED_LIMITS,0.229,0.239
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.208,0.095
$KALMAN_X,14896.4,20.3,38.0,-11865.1,0.7
$KALMAN_Y,11392.5,-127.0,-38.5,-4010.3,-2.2
$MHEAD_RNG_PITCHd_Wd,276.2,111,-22.6,-10.667
$D_GRID,167
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.86,-97.8,0.0,0.0,0,113,0.00,0.00,-84.95,0.000,2,0.000,0.000,362,2058,3378
$GC,116,-1.86,-97.8,2.0,-4.8,14,147,10.68,2.67,-15.70,0.000,4,0.150,0.080,2320,639,3814
$GC,398,-1.86,-97.8,27.4,-7.7,50,405,0.00,2.47,0.00,0.000,6,0.000,0.036,2320,2056,3815
$GC,594,-1.86,-97.8,42.0,-7.6,66,598,0.00,2.60,0.00,0.000,4,0.000,0.067,2319,642,3816
$GC,714,-1.86,-97.8,51.6,-7.9,75,719,0.00,2.45,0.00,0.000,6,0.000,0.038,2319,2056,3815
$GC,910,-1.86,-97.8,66.3,-7.3,90,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2057,3815
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1106,-0.38,0.0,80.3,7.5,105,1185,1.58,0.00,75.30,0.561,6,0.098,0.000,2643,2457,3415
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1188,1.86,97.8,82.3,0.0,112,1274,2.25,2.65,73.30,0.555,4,0.070,0.066,3136,3851,3015
$GC,1332,1.87,109.4,71.2,9.9,123,1345,0.00,2.47,8.32,0.559,6,0.000,0.034,3136,2438,2968
$GC,1535,1.88,115.6,50.7,10.3,139,1541,0.00,0.00,4.30,0.571,6,0.000,0.000,3136,2436,2943
$GC,1724,1.88,115.7,31.1,10.7,154,1728,0.00,2.60,0.00,0.000,4,0.000,0.064,3136,3851,2942
$GC,1774,1.88,115.7,25.2,11.9,157,1782,0.00,2.45,0.00,0.000,6,0.000,0.034,3136,2441,2942
$GC,1980,1.94,161.7,7.0,7.6,184,2022,0.00,2.60,34.10,0.511,4,0.000,0.062,3136,1055,2754
$GC,2042,2.01,221.1,2.9,6.7,194,2056,0.15,2.45,8.57,0.529,2,0.067,0.038,3169,2459,2707
$STATE,2057,end climb,SURFACE_DEPTH_REACHED
$STATE,2057,begin surface coast
$FINISH,0.7,1.022039
$STATE,2069,end surface coast,CONTROL_FINISHED_OK
$STATE,2069,begin surface
$SM_CCo,2096,136.90,0.493,0,0,1579,450.13
$SM_GC,0.73,0.00,0.00,136.90,0.000,0.000,0.493,362,2050,1579,-10.89,0.00,450.13
$IRIDIUM_FIX,4726.11,-12252.58,061007,171701
$TT8_MAMPS,0.071331
$HUMID,2022
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,19.70
$XPDR_PINGS,128
$ALTIM_TOP_PING,9.9,999.0
$ALTIM_BOTTOM_PING,55.2,999.0
$24V_AH,23.9,16.161
$10V_AH,10.1,12.308
$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,27.100,26.850,203.900,136.900,0.000,40.551,37.851,161.403,32.500,0.000,2735.000,11.941,393.665,1073.313,433.837,375.145,363.825,33.328,669.504,0.000,355.842,0.000,4.065
$DEVICE_MAMPS,150.332,79.768,571.415,493.181,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,131.024,0.000,0.000,0.000,0.000,0.000,0.000,2735.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6453,198
$CFSIZE,260034560,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,150453,4743.577,-12250.879,12,3.1,31,18.3