version: 66.08
glider: 107
mission: 17
dive: 10
start: 9 3 110 1 50 0
data:
$ID,107
$MISSION,17
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,80
$D_BOOST,4
$T_BOOST,0
$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,50
$T_MISSION,60
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51754
$NAV_MODE,1
$FERRY_MAX,45
$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,47.716702
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-64770.094
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,357
$PITCH_MAX,3724
$C_PITCH,2575
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3960
$C_VBD,3193
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.699804
$PRESSURE_SLOPE,0.0001156423
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043463423
$SEABIRD_T_H,0.00064514292
$SEABIRD_T_I,2.5540507e-05
$SEABIRD_T_J,2.7081812e-06
$SEABIRD_C_G,-10.058743
$SEABIRD_C_H,1.136763
$SEABIRD_C_I,-0.0017889598
$SEABIRD_C_J,0.00021392011
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,030910,014506,4806.066,-12222.124,14,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-67.5
$GPS2,030910,014919,4806.037,-12222.109,11,1.5,16,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.127,0.228
$KALMAN_X,-248.7,-100.3,-20.1,1661.0,-19.2
$KALMAN_Y,-543.2,-248.2,-62.0,-2754.9,-16.4
$MHEAD_RNG_PITCHd_Wd,312.5,2095,-18.2,-10.000
$D_GRID,107
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,100,0.00,0.00,-83.78,0.000,2,0.000,0.000,360,2065,3650,0,0,0,0,0,0
$GC,102,-1.39,-146.6,4.5,-15.4,15,120,11.18,0.00,-3.00,0.000,6,0.176,0.000,2264,2065,3793,0,0,0,0,0,0
$GC,183,-1.39,-146.6,20.1,-12.3,30,187,0.00,2.60,0.00,0.000,4,0.000,0.058,2264,3473,3794,0,0,0,0,0,0
$GC,236,-1.39,-146.6,26.4,-11.5,35,240,0.00,2.58,0.00,0.000,6,0.000,0.050,2265,2063,3794,0,0,0,0,0,0
$GC,433,-1.39,-146.6,48.7,-11.2,54,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2063,3794,0,0,0,0,0,0
$GC,619,-1.39,-146.6,68.3,-9.5,72,623,0.00,2.60,0.00,0.000,4,0.000,0.060,2264,3471,3795,0,0,0,0,0,0
$GC,677,-1.39,-146.6,74.9,-11.5,77,684,0.00,2.60,0.00,0.000,6,0.000,0.053,2264,2057,3795,0,0,0,0,0,0
$STATE,982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,982,begin apogee
$GC,986,-0.33,0.0,108.0,10.9,107,1108,1.12,0.00,115.90,0.601,6,0.099,0.000,2496,2057,3193,0,0,0,0,0,0
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1110,1.39,146.6,112.0,0.0,118,1236,1.70,2.72,115.85,0.597,4,0.063,0.081,2878,648,2594,0,0,0,0,0,0
$GC,1272,1.39,146.6,101.2,10.7,133,1279,0.00,2.55,0.00,0.000,6,0.000,0.041,2877,2060,2594,0,0,0,0,0,0
$GC,1588,1.41,160.9,70.5,9.3,164,1602,0.00,0.00,12.82,0.527,6,0.000,0.000,2878,2060,2536,0,0,0,0,0,0
$GC,1908,1.41,161.5,39.6,10.0,195,1912,0.00,2.72,0.00,0.000,4,0.000,0.078,2878,642,2535,0,0,0,0,0,0
$GC,1934,1.41,161.5,36.7,11.0,197,1941,0.00,2.53,0.00,0.000,6,0.000,0.039,2878,2059,2535,0,0,0,0,0,0
$GC,2126,1.43,175.0,19.2,9.4,216,2144,0.00,0.00,12.43,0.505,6,0.000,0.000,2877,2059,2478,0,0,0,0,0,0
$GC,2207,1.45,193.7,11.8,9.1,231,2225,0.00,0.00,16.20,0.525,6,0.000,0.000,2878,2059,2403,0,0,0,0,0,0
$GC,2288,1.48,216.5,4.3,9.0,246,2312,0.00,0.00,18.83,0.522,6,0.000,0.000,2877,2059,2309,0,0,0,0,0,0
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,-0.1,1.019720
$STATE,2363,end surface coast,CONTROL_FINISHED_OK
$STATE,2363,begin surface
$SM_CCo,2381,77.65,0.490,1,0,1766,350.04
$SM_GC,0.40,0.00,0.00,77.65,0.000,0.000,0.490,360,2061,1766,-10.19,0.03,350.04
$IRIDIUM_FIX,4751.72,-12340.51,030910,000032
$TT8_MAMPS,0.056924
$HUMID,59.01
$INTERNAL_PRESSURE,9.10771
$TCM_TEMP,19.80
$24V_AH,23.4,0.968
$10V_AH,9.9,0.373
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.225,20.900,292.025,77.650,0.000,25.880,27.039,119.638,0.000,0.000,16.973,0.000,1460.349,421.573,748.171,86.371,33.313,707.498,0.000,438.938,0.000,0.000,0.000
$DEVICE_MAMPS,175.950,81.090,600.525,489.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,173.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,6834,260
$CAP_FILE_SIZE,39124,0
$CFSIZE,260034560,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,023137,4806.305,-12222.285,8,1.4,14,18.3