version: 66.02
glider: 106
mission: 7
dive: 172
start: 10 1 107 7 4 11
data:
$ID,106
$MISSION,7
$DIVE,172
$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,-46808.453
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,065317,4739.506,-12252.380,11,3.5,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.9
$GPS2,070305,4739.579,-12252.285,16,2.1,35,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,-0.159
$KALMAN_X,7629.3,271.3,120.8,-8127.0,103.9
$KALMAN_Y,11058.4,277.5,127.9,-11807.7,131.5
$MHEAD_RNG_PITCHd_Wd,198.0,253,-23.2,-9.524
$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,-1.89,-84.1,0.0,0.0,0,99,0.00,0.00,-73.05,0.000,2,0.000,0.000,459,1810,3167
$GC,102,-1.94,-122.2,2.1,-4.7,12,140,14.00,2.58,-18.52,0.000,4,0.205,0.060,2674,3204,3718
$GC,168,-1.94,-122.2,5.3,-6.3,22,174,0.00,2.47,0.00,0.000,6,0.000,0.035,2675,1802,3720
$GC,240,-1.94,-122.2,9.4,-5.4,33,246,0.00,2.65,0.00,0.000,4,0.000,0.073,2675,398,3720
$GC,437,-1.94,-122.2,26.4,-9.0,58,442,0.00,2.45,0.00,0.000,6,0.000,0.033,2674,1805,3721
$GC,633,-1.94,-122.2,41.9,-7.5,73,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1805,3721
$GC,822,-1.94,-122.2,55.1,-6.9,88,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1807,3721
$GC,1013,-1.94,-122.2,67.2,-6.2,103,1017,0.00,2.65,0.00,0.000,4,0.000,0.071,2675,401,3721
$GC,1058,-1.94,-122.2,70.4,-7.1,106,1063,0.00,2.42,0.00,0.000,6,0.000,0.035,2675,1800,3721
$GC,1254,-1.94,-122.2,83.2,-6.4,121,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1801,3721
$GC,1446,-1.94,-122.2,95.1,-6.5,136,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1801,3721
$STATE,1516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1516,begin apogee
$GC,1522,-0.38,0.0,100.2,6.8,142,1628,1.70,0.00,98.30,0.680,6,0.106,0.000,3012,1727,3216
$STATE,1629,end apogee,CONTROL_FINISHED_OK
$STATE,1629,begin climb
$GC,1631,1.94,122.2,101.0,0.0,151,1731,2.28,0.00,95.32,0.650,6,0.049,0.000,3527,1728,2719
$GC,1917,1.94,122.2,64.5,15.0,174,1921,0.00,2.65,0.00,0.000,4,0.000,0.077,3527,343,2716
$GC,1994,1.94,122.2,51.9,15.8,179,2002,0.00,2.47,0.00,0.000,6,0.000,0.035,3527,1733,2716
$GC,2191,1.94,122.2,23.3,13.4,195,2195,0.00,2.67,0.00,0.000,4,0.000,0.076,3527,341,2716
$GC,2210,1.94,122.2,20.5,13.8,196,2214,0.00,2.45,0.00,0.000,6,0.000,0.035,3527,1740,2716
$STATE,2326,end climb,SURFACE_DEPTH_REACHED
$STATE,2326,begin surface coast
$FINISH,0.2,1.011563
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2388,119.45,0.578,0,0,1586,400.08
$SM_GC,0.87,0.00,0.00,119.45,0.000,0.000,0.578,461,1807,1586,-12.14,0.20,400.08
$IRIDIUM_FIX,4722.92,-12251.79,011007,101013
$TT8_MAMPS,0.06903
$HUMID,2020
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,51.9
$24V_AH,23.9,19.756
$10V_AH,10.1,40.819
$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,31.450,25.675,193.625,119.450,0.000,75.122,62.157,243.470,0.500,0.000,3227.000,36.588,414.691,1375.770,413.516,416.317,503.953,33.331,648.071,0.000,367.504,0.000,5.483
$DEVICE_MAMPS,204.789,82.836,679.562,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.044,0.000,0.000,0.000,0.000,0.000,0.000,3227.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6440,218
$CFSIZE,260034560,251805696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,074702,4739.500,-12252.384,12,1.0,29,18.3