version: 66.02
glider: 106
mission: 7
dive: 75
start: 9 27 107 14 1 54
data:
$ID,106
$MISSION,7
$DIVE,75
$D_SURF,5
$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,35
$T_MISSION,70
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51341
$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,400
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44665.402
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3080
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,735
$VBD_MAX,3975
$C_VBD,3218
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.4494777
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$GPS1,135156,4739.555,-12252.382,13,1.8,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.7
$GPS2,140047,4739.524,-12252.371,13,3.3,32,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.236,-0.017
$KALMAN_X,2080.7,-45.9,-98.6,-2146.5,36.1
$KALMAN_Y,1861.8,-24.4,-137.6,-2142.3,-11.5
$MHEAD_RNG_PITCHd_Wd,247.7,1042,-19.2,-9.524
$D_GRID,125
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,79,0.00,0.00,-55.50,0.000,2,0.000,0.000,463,1994,2828
$GC,82,-1.63,-122.2,2.1,-3.9,9,143,14.57,2.55,-38.60,0.000,4,0.212,0.066,2722,3397,3719
$GC,294,-1.63,-122.2,12.9,-5.6,42,301,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1989,3721
$GC,366,-1.63,-122.2,17.2,-6.3,53,373,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,591,3721
$GC,498,-1.63,-122.2,24.9,-6.2,67,502,0.00,2.45,0.00,0.000,6,0.000,0.034,2722,1996,3721
$GC,700,-1.63,-122.2,37.3,-6.1,83,704,0.00,2.53,0.00,0.000,4,0.000,0.054,2722,3397,3722
$GC,779,-1.63,-122.2,42.0,-6.2,89,783,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1988,3722
$GC,981,-1.63,-122.2,53.8,-6.1,105,985,0.00,2.60,0.00,0.000,4,0.000,0.068,2722,590,3722
$GC,1051,-1.63,-122.2,58.4,-6.4,110,1059,0.00,2.47,0.00,0.000,6,0.000,0.035,2722,1991,3722
$GC,1248,-1.63,-122.2,71.0,-6.6,126,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1991,3722
$GC,1440,-1.63,-122.2,83.3,-6.7,141,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1991,3722
$GC,1628,-1.63,-122.2,95.6,-6.1,156,1632,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,589,3722
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1696,-0.38,0.0,100.1,7.0,160,1799,1.33,0.00,97.90,0.676,6,0.104,0.000,2988,1939,3217
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1802,1.63,122.2,101.4,0.0,169,1903,1.98,0.00,94.90,0.651,6,0.054,0.000,3436,1938,2719
$GC,2087,1.63,122.2,74.6,10.9,192,2092,0.00,2.67,0.00,0.000,4,0.000,0.072,3436,533,2716
$GC,2225,1.63,122.2,58.6,12.0,202,2230,0.00,2.47,0.00,0.000,6,0.000,0.036,3436,1923,2716
$GC,2427,1.63,122.2,36.6,10.9,218,2431,0.00,2.65,0.00,0.000,4,0.000,0.070,3436,526,2716
$GC,2479,1.63,122.2,30.4,12.1,222,2484,0.00,2.50,0.00,0.000,6,0.000,0.036,3436,1929,2716
$GC,2680,1.63,122.2,10.0,10.2,245,2687,0.00,2.65,0.00,0.000,4,0.000,0.071,3436,530,2716
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,1.4,1.020408
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2805,119.95,0.584,0,0,1586,400.08
$SM_GC,0.96,0.00,0.00,119.95,0.000,0.000,0.584,460,1994,1586,-12.05,0.11,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,171742
$TT8_MAMPS,0.070564
$HUMID,2033
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.6
$24V_AH,23.8,12.104
$10V_AH,10.1,34.161
$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,31.750,40.750,192.800,119.950,0.000,71.260,156.746,128.536,0.500,8.300,3576.700,34.371,490.978,1621.625,429.311,504.074,441.203,33.328,709.712,0.000,459.834,0.000,5.484
$DEVICE_MAMPS,212.459,72.098,676.494,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.463,0.000,0.000,0.000,0.000,0.000,0.000,3585.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,260
$CFSIZE,260034560,254799872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,145138,4739.615,-12252.672,26,1.9,26,18.3