version: 66.02
glider: 106
mission: 7
dive: 144
start: 9 30 107 6 19 34
data:
$ID,106
$MISSION,7
$DIVE,144
$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,-46171.91
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$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,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,40
$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
$GPS1,061233,4739.710,-12252.974,13,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-55.4
$GPS2,061826,4739.798,-12252.870,14,1.1,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.194
$KALMAN_X,3798.2,234.8,77.9,-4948.0,123.5
$KALMAN_Y,5841.7,453.5,168.0,-6403.6,169.9
$MHEAD_RNG_PITCHd_Wd,196.6,740,-19.2,-9.524
$D_GRID,120
$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,-1.63,-122.2,0.0,0.0,0,105,0.00,0.00,-79.18,0.000,2,0.000,0.000,462,1806,3282
$GC,108,-1.63,-122.2,2.1,-5.1,13,145,14.45,0.00,-15.23,0.000,6,0.205,0.000,2743,1808,3719
$GC,210,-1.63,-122.2,6.1,-4.0,29,217,0.00,2.50,0.00,0.000,4,0.000,0.049,2743,3192,3721
$GC,249,-1.63,-122.2,8.0,-5.1,35,256,0.00,2.45,0.00,0.000,6,0.000,0.037,2743,1805,3721
$GC,321,-1.63,-122.2,11.7,-5.3,46,327,0.00,2.67,0.00,0.000,4,0.000,0.074,2743,394,3721
$GC,387,-1.63,-122.2,15.6,-6.4,56,393,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1802,3721
$GC,458,-1.63,-122.2,20.0,-6.0,67,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1802,3721
$GC,528,-1.63,-122.2,24.2,-6.2,73,532,0.00,2.50,0.00,0.000,4,0.000,0.050,2743,3196,3722
$GC,586,-1.63,-122.2,27.8,-6.2,77,591,0.00,2.47,0.00,0.000,6,0.000,0.037,2743,1793,3721
$GC,782,-1.63,-122.2,38.8,-5.4,92,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1793,3721
$GC,972,-1.63,-122.2,48.3,-5.3,107,977,0.00,2.62,0.00,0.000,4,0.000,0.073,2743,398,3721
$GC,1071,-1.63,-122.2,54.2,-6.0,114,1075,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1810,3722
$GC,1266,-1.63,-122.2,65.4,-5.7,129,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1809,3721
$GC,1458,-1.63,-122.2,76.8,-6.3,144,1463,0.00,2.47,0.00,0.000,4,0.000,0.050,2743,3194,3722
$GC,1523,-1.63,-122.2,81.2,-6.2,148,1530,0.00,2.47,0.00,0.000,6,0.000,0.038,2743,1807,3721
$GC,1719,-1.63,-122.2,92.9,-5.9,164,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1807,3721
$STATE,1843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1848,-0.38,0.0,100.2,5.6,174,1954,1.35,0.00,98.40,0.686,6,0.105,0.000,3012,1731,3217
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1958,1.63,122.2,101.4,0.0,183,2063,2.05,0.00,95.70,0.657,6,0.056,0.000,3458,1731,2718
$GC,2251,1.63,122.2,71.4,11.7,207,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1731,2716
$GC,2441,1.63,122.2,49.1,11.4,222,2446,0.00,2.67,0.00,0.000,4,0.000,0.078,3458,333,2716
$GC,2545,1.63,122.2,35.8,12.4,229,2553,0.00,2.47,0.00,0.000,6,0.000,0.035,3459,1727,2715
$GC,2744,1.63,122.2,13.3,10.4,249,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1731,2715
$GC,2815,1.63,122.2,5.2,11.4,260,2822,0.00,2.55,0.00,0.000,4,0.000,0.051,3459,3139,2715
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.2,1.008970
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2902,119.30,0.581,0,0,1586,400.08
$SM_GC,0.80,0.00,0.00,119.30,0.000,0.000,0.581,463,1797,1586,-12.13,-0.08,400.08
$IRIDIUM_FIX,4722.92,-12256.21,300907,090931
$TT8_MAMPS,0.072865
$HUMID,2003
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.3
$24V_AH,23.8,17.619
$10V_AH,10.1,38.968
$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,31.425,35.325,194.100,119.300,0.000,37.441,44.303,156.037,0.500,0.000,3486.000,14.982,502.039,1620.757,449.921,477.863,354.009,33.329,729.938,0.000,449.328,0.000,5.486
$DEVICE_MAMPS,204.789,78.234,685.698,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.271,0.000,0.000,0.000,0.000,0.000,0.000,3486.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6424,269
$CFSIZE,260034560,252649472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,071039,4739.738,-12252.947,10,1.5,10,18.3