version: 66.02
glider: 107
mission: 10
dive: 190
start: 10 7 107 7 17 20
data:
$ID,107
$MISSION,10
$DIVE,190
$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,15
$T_MISSION,40
$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,-19078.666
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,070529,4743.144,-12250.641,13,2.3,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-44.6
$GPS2,071557,4743.256,-12250.648,13,1.4,13,18.3
$SPEED_LIMITS,0.308,0.318
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,-0.291
$KALMAN_X,16902.8,502.8,101.8,-14421.5,-28.4
$KALMAN_Y,13737.4,639.8,291.8,-7985.3,8.9
$MHEAD_RNG_PITCHd_Wd,185.3,436,-27.6,-17.778
$D_GRID,166
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.24,-97.8,0.0,0.0,0,127,0.00,0.00,-97.43,0.000,2,0.000,0.000,359,2046,3565
$GC,131,-2.24,-97.8,2.1,-4.8,16,157,10.32,2.58,-8.88,0.000,4,0.154,0.079,2240,649,3813
$GC,316,-2.24,-97.8,19.2,-10.2,44,322,0.00,2.42,0.00,0.000,6,0.000,0.037,2239,2053,3814
$GC,392,-2.24,-97.8,27.3,-10.5,51,396,0.00,2.53,0.00,0.000,4,0.000,0.056,2240,3459,3814
$GC,469,-2.24,-97.8,35.4,-9.9,56,476,0.00,2.47,0.00,0.000,6,0.000,0.038,2240,2053,3813
$GC,666,-2.24,-97.8,53.2,-9.7,72,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2051,3813
$GC,857,-2.24,-97.8,71.1,-9.7,87,861,0.00,2.60,0.00,0.000,4,0.000,0.071,2240,639,3814
$GC,931,-2.24,-97.8,78.5,-10.2,92,935,0.00,2.45,0.00,0.000,6,0.000,0.038,2239,2054,3814
$STATE,947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,953,-0.38,0.0,80.4,9.3,93,1034,2.03,0.00,74.85,0.561,6,0.107,0.000,2645,2454,3415
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1038,2.24,97.8,82.4,0.0,100,1119,2.65,0.00,73.45,0.555,6,0.068,0.000,3216,2454,3015
$GC,1308,2.34,178.8,55.3,11.7,122,1372,0.10,0.00,60.35,0.538,6,0.079,0.000,3239,2454,2686
$GC,1557,2.39,218.5,19.2,14.8,142,1594,0.00,2.62,29.10,0.520,4,0.000,0.065,3238,3854,2524
$STATE,1658,end climb,SURFACE_DEPTH_REACHED
$STATE,1658,begin surface coast
$FINISH,0.3,1.022642
$STATE,1666,end surface coast,CONTROL_FINISHED_OK
$STATE,1666,begin surface
$SM_CCo,1695,118.10,0.492,0,0,1580,450.13
$SM_GC,0.59,0.00,0.00,118.10,0.000,0.000,0.492,356,2037,1580,-10.93,-0.34,450.13
$IRIDIUM_FIX,4726.11,-12255.26,071007,111134
$TT8_MAMPS,0.070564
$HUMID,2004
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,19.80
$XPDR_PINGS,96
$ALTIM_TOP_PING,9.8,9.4
$ALTIM_BOTTOM_PING,55.6,999.0
$24V_AH,23.9,18.042
$10V_AH,10.1,13.637
$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,27.550,21.650,237.750,118.100,0.000,76.957,89.600,273.142,24.500,0.000,2577.000,13.430,311.161,863.095,452.753,292.445,568.361,33.323,646.134,0.000,271.731,0.000,4.109
$DEVICE_MAMPS,154.167,79.001,560.677,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,104.149,0.000,0.000,0.000,0.000,0.000,0.000,2577.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3310,159
$CFSIZE,260034560,250789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,074837,4743.151,-12250.760,12,1.3,28,18.3