version: 66.02
glider: 107
mission: 10
dive: 234
start: 10 8 107 20 17 53
data:
$ID,107
$MISSION,10
$DIVE,234
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,30
$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,671.14081
$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,-20118.334
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,200050,4743.012,-12250.891,7,1.8,7,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-50.5
$GPS2,201650,4742.940,-12251.000,15,1.5,32,18.3
$SPEED_LIMITS,0.214,0.216
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.132
$KALMAN_X,14616.4,-325.6,-67.5,-11572.3,-20.3
$KALMAN_Y,16620.9,-300.3,-94.2,-10116.8,-0.6
$MHEAD_RNG_PITCHd_Wd,33.8,305,-22.4,-10.000
$D_GRID,162
$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,-1.84,-97.8,0.0,0.0,0,121,0.00,0.00,-90.68,0.000,2,0.000,0.000,357,2066,3443
$GC,126,-1.84,-97.8,2.0,-5.0,15,156,10.57,0.00,-13.70,0.000,6,0.146,0.000,2324,2066,3813
$GC,223,-1.84,-97.8,9.6,-9.3,30,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2066,3814
$GC,295,-1.84,-97.8,16.0,-8.4,41,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2066,3814
$GC,372,-1.84,-97.8,22.2,-8.1,51,376,0.00,2.50,0.00,0.000,4,0.000,0.055,2324,3459,3815
$GC,418,-1.84,-97.8,26.0,-8.6,54,422,0.00,2.45,0.00,0.000,6,0.000,0.038,2324,2050,3814
$GC,614,-1.84,-97.8,40.0,-6.8,69,618,0.00,2.58,0.00,0.000,4,0.000,0.069,2324,645,3814
$GC,667,-1.84,-97.8,44.0,-8.2,72,673,0.00,2.42,0.00,0.000,6,0.000,0.036,2324,2055,3814
$STATE,683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,683,begin apogee
$GC,689,-0.38,0.0,45.5,7.9,74,770,1.58,0.00,74.55,0.534,6,0.099,0.000,2642,2459,3415
$STATE,771,end apogee,CONTROL_FINISHED_OK
$STATE,771,begin climb
$GC,774,1.84,97.8,47.0,0.0,81,854,2.25,0.00,73.18,0.531,6,0.070,0.000,3127,2459,3015
$GC,1043,1.85,106.0,24.4,9.4,103,1055,0.00,0.00,5.72,0.542,6,0.000,0.000,3127,2460,2981
$GC,1252,1.90,144.3,6.5,7.4,131,1289,0.00,2.62,28.20,0.512,4,0.000,0.064,3127,3847,2826
$STATE,1313,end climb,SURFACE_DEPTH_REACHED
$STATE,1313,begin surface coast
$FINISH,0.1,1.010819
$STATE,1333,end surface coast,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$SM_CCo,1361,269.80,0.492,0,0,680,671.14
$SM_GC,0.50,0.00,0.00,269.80,0.000,0.000,0.492,361,2048,680,-10.89,-0.06,671.14
$IRIDIUM_FIX,4726.11,-12246.42,091007,000050
$TT8_MAMPS,0.074399
$HUMID,1972
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,19.80
$XPDR_PINGS,76
$ALTIM_TOP_PING,9.5,999.0
$ALTIM_BOTTOM_PING,27.5,999.0
$24V_AH,24.0,21.809
$10V_AH,10.1,16.518
$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,26.475,16.500,181.650,269.800,0.000,198.971,375.840,0.000,19.500,0.000,2576.000,32.131,269.523,804.464,562.659,273.058,707.522,33.323,737.278,0.000,240.681,0.000,4.044
$DEVICE_MAMPS,145.730,69.030,542.269,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,94.108,0.000,0.000,0.000,0.000,0.000,0.000,2576.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3331,144
$CFSIZE,260034560,249450496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,204550,4742.991,-12250.943,9,1.4,9,18.3