version: 66.02
glider: 106
mission: 7
dive: 16
start: 9 25 107 10 24 58
data:
$ID,106
$MISSION,7
$DIVE,16
$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,-43369.074
$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,20
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,390
$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
$GPS1,101920,4738.775,-12253.280,16,1.9,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.6
$GPS2,102351,4738.776,-12253.275,16,1.3,16,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,-0.158
$KALMAN_X,639.4,81.8,-36.6,-2023.2,-31.8
$KALMAN_Y,1115.6,163.2,-70.1,-3038.0,-117.9
$MHEAD_RNG_PITCHd_Wd,141.1,461,-27.3,-9.524
$D_GRID,139
$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,21,-2.17,-60.9,0.0,0.0,0,79,0.00,0.00,-56.00,0.000,2,0.000,0.000,461,1994,2855
$GC,81,-2.24,-114.8,2.0,-3.9,9,130,13.50,0.00,-32.38,0.000,6,0.202,0.000,2589,1995,3687
$GC,195,-2.24,-114.8,9.8,-10.8,27,202,0.00,2.70,0.00,0.000,4,0.000,0.068,2590,586,3690
$GC,372,-2.24,-115.6,26.9,-9.4,48,380,0.00,2.53,0.00,0.000,6,0.000,0.038,2589,1987,3690
$GC,570,-2.24,-117.0,44.9,-9.4,64,574,0.00,2.58,0.00,0.000,4,0.000,0.057,2589,3397,3691
$GC,601,-2.24,-117.0,48.4,-10.8,66,606,0.00,2.55,0.00,0.000,6,0.000,0.042,2590,1985,3691
$GC,803,-2.24,-117.0,68.8,-10.0,82,807,0.00,2.62,0.00,0.000,4,0.000,0.058,2589,3393,3691
$GC,834,-2.24,-117.0,72.1,-10.4,84,843,0.00,2.55,0.00,0.000,6,0.000,0.041,2589,1985,3691
$GC,1031,-2.24,-117.0,90.5,-9.6,100,1036,0.00,2.65,0.00,0.000,4,0.000,0.071,2589,593,3691
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1133,-0.38,0.0,100.2,10.3,107,1231,2.03,0.00,92.10,0.681,6,0.110,0.000,2991,1941,3217
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1233,2.24,117.0,101.8,0.0,115,1336,2.58,2.78,91.05,0.659,4,0.045,0.074,3576,534,2741
$GC,1367,2.24,117.0,87.6,14.8,126,1375,0.00,2.55,0.00,0.000,6,0.000,0.038,3576,1936,2739
$GC,1565,2.24,117.0,57.9,15.6,142,1569,0.00,2.70,0.00,0.000,4,0.000,0.071,3576,530,2739
$GC,1654,2.24,117.0,43.5,15.2,148,1663,0.00,2.53,0.00,0.000,6,0.000,0.038,3576,1930,2739
$GC,1852,2.24,117.0,15.3,14.4,166,1859,0.00,2.72,0.00,0.000,4,0.000,0.073,3576,526,2739
$STATE,1929,end climb,SURFACE_DEPTH_REACHED
$STATE,1930,begin surface coast
$FINISH,1.5,1.020571
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1964,begin surface
$SM_CCo,1991,121.85,0.587,0,0,1587,400.08
$SM_GC,1.20,0.00,0.00,121.85,0.000,0.000,0.587,460,1996,1587,-12.05,0.17,400.08
$IRIDIUM_FIX,4719.74,-12251.79,250907,131353
$TT8_MAMPS,0.06903
$HUMID,2027
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,52.3
$24V_AH,23.2,7.108
$10V_AH,10.1,30.278
$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,32.925,36.525,183.150,121.850,0.000,38.368,44.488,99.520,0.500,24.910,2484.090,16.077,357.082,1031.354,432.637,354.463,240.084,33.322,647.979,0.000,329.980,0.000,5.487
$DEVICE_MAMPS,202.488,73.632,681.096,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.847,0.000,0.000,0.000,0.000,0.000,0.000,2509.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3309,183
$CFSIZE,260034560,256659456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,1
$GPS,250907,110107,4738.569,-12253.121,8,1.2,24,18.3