version: 66.02
glider: 107
mission: 8
dive: 6
start: 9 21 107 4 1 6
data:
$ID,107
$MISSION,8
$DIVE,6
$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,60
$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,-13010.139
$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,2000
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$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,-10.282682
$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
$GPS1,035053,4739.592,-12252.219,9,2.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-57.5
$GPS2,040002,4739.640,-12252.174,16,1.4,34,18.3
$SPEED_LIMITS,0.144,0.204
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,-0.165
$KALMAN_X,527.2,306.6,93.3,-58.3,65.1
$KALMAN_Y,510.5,215.1,5.6,-162.1,142.4
$MHEAD_RNG_PITCHd_Wd,198.0,428,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.60,-97.8,0.0,0.0,0,87,0.00,0.00,-61.47,0.000,2,0.000,0.000,361,2008,2811
$GC,90,-1.60,-97.8,2.0,-3.7,10,152,11.15,2.65,-43.72,0.000,4,0.155,0.081,2378,593,3813
$GC,376,-1.60,-97.8,23.4,-8.5,51,380,0.00,2.47,0.00,0.000,6,0.000,0.036,2378,1994,3815
$GC,578,-1.60,-97.8,39.5,-8.3,67,582,0.00,2.58,0.00,0.000,4,0.000,0.061,2378,3406,3815
$GC,722,-1.60,-97.8,52.0,-8.5,77,729,0.00,2.53,0.00,0.000,6,0.000,0.041,2378,2004,3815
$GC,918,-1.60,-97.8,68.9,-9.2,93,922,0.00,2.55,0.00,0.000,4,0.000,0.061,2378,3399,3815
$GC,1010,-1.60,-97.8,77.3,-8.9,100,1014,0.00,2.47,0.00,0.000,6,0.000,0.042,2378,1999,3815
$GC,1212,-1.60,-97.8,94.8,-8.6,116,1217,0.00,2.62,0.00,0.000,4,0.000,0.069,2378,3397,3815
$GC,1266,-1.60,-97.8,99.4,-8.4,120,1270,0.00,2.47,0.00,0.000,6,0.000,0.043,2378,1998,3815
$STATE,1282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1282,begin apogee
$GC,1287,-0.38,0.0,101.0,8.1,121,1369,1.35,0.00,74.55,0.568,6,0.111,0.000,2642,2412,3414
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1372,1.60,97.8,103.4,0.0,128,1453,2.10,0.00,72.93,0.561,6,0.079,0.000,3081,2412,3015
$GC,1642,1.64,127.6,89.4,6.6,150,1667,0.00,0.00,21.88,0.558,6,0.000,0.000,3081,2413,2894
$GC,1855,1.67,150.8,74.6,7.0,167,1880,0.00,2.65,16.77,0.555,4,0.000,0.066,3081,1011,2799
$GC,1999,1.67,152.6,63.3,8.2,178,2003,0.00,2.50,0.00,0.000,6,0.000,0.042,3081,2426,2799
$GC,2201,1.69,171.0,48.0,7.3,194,2218,0.00,0.00,14.93,0.547,6,0.000,0.000,3081,2425,2717
$GC,2402,1.71,183.9,32.3,7.6,210,2415,0.00,0.00,8.95,0.546,6,0.000,0.000,3081,2426,2665
$GC,2605,1.71,183.9,16.0,8.5,229,2612,0.00,2.60,0.00,0.000,4,0.000,0.064,3081,1011,2664
$GC,2730,1.75,218.8,6.1,6.3,248,2762,0.15,2.47,25.45,0.518,6,0.062,0.041,3120,2424,2522
$STATE,2794,end climb,SURFACE_DEPTH_REACHED
$STATE,2794,begin surface coast
$FINISH,0.3,1.010160
$STATE,2820,end surface coast,CONTROL_FINISHED_OK
$STATE,2821,begin surface
$SM_CCo,2845,117.78,0.492,0,0,1580,450.13
$SM_GC,1.10,0.00,0.00,117.78,0.000,0.000,0.492,360,1988,1580,-10.90,-0.34,450.13
$IRIDIUM_FIX,4722.92,-12253.53,210907,070738
$TT8_MAMPS,0.073632
$HUMID,2112
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.3
$ALTIM_BOTTOM_PING,75.6,63.2
$24V_AH,23.0,15.794
$10V_AH,9.5,10.246
$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,27.050,32.100,235.450,117.775,0.000,77.990,95.178,197.523,0.750,66.400,3574.600,34.519,481.406,1625.916,467.544,494.066,469.682,33.315,748.543,0.000,455.580,0.000,4.154
$DEVICE_MAMPS,154.934,80.535,567.580,492.414,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.605,0.000,0.000,0.000,0.000,0.000,0.000,3641.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.871,51.000
$DATA_FILE_SIZE,6445,262
$CFSIZE,260034560,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210907,045135,4739.496,-12252.457,12,9.6,31,18.3