version: 66.02
glider: 106
mission: 7
dive: 24
start: 9 25 107 17 17 32
data:
$ID,106
$MISSION,7
$DIVE,24
$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,-43536.793
$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,22
$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
$GPS1,171033,4739.209,-12252.052,15,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.1
$GPS2,171626,4739.209,-12252.011,43,1.6,43,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.211,0.107
$KALMAN_X,1825.4,180.1,133.3,-1899.8,115.3
$KALMAN_Y,2253.2,109.9,182.9,-3569.0,96.0
$MHEAD_RNG_PITCHd_Wd,278.5,682,-19.2,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.63,-122.2,0.0,0.0,0,85,0.00,0.00,-61.33,0.000,2,0.000,0.000,463,1981,2974
$GC,87,-1.63,-122.2,2.3,-4.0,10,136,14.62,0.00,-28.35,0.000,6,0.205,0.000,2719,1981,3717
$GC,201,-1.63,-122.2,7.6,-6.7,28,208,0.00,2.62,0.00,0.000,4,0.000,0.069,2720,588,3718
$GC,426,-1.63,-122.2,23.3,-6.4,59,430,0.00,2.50,0.00,0.000,6,0.000,0.037,2720,1992,3719
$GC,622,-1.63,-122.2,36.5,-6.9,74,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1992,3720
$GC,810,-1.63,-122.2,49.6,-6.8,89,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1994,3720
$GC,999,-1.63,-122.2,62.1,-6.7,104,1003,0.00,2.67,0.00,0.000,4,0.000,0.068,2720,588,3720
$GC,1104,-1.63,-122.2,69.6,-7.4,112,1109,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,1993,3720
$GC,1308,-1.63,-122.2,83.3,-6.7,128,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1992,3720
$GC,1496,-1.63,-122.2,96.3,-7.0,143,1500,0.00,2.67,0.00,0.000,4,0.000,0.068,2720,582,3720
$STATE,1545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1545,begin apogee
$GC,1552,-0.38,0.0,100.3,7.6,146,1655,1.33,0.00,97.70,0.683,6,0.094,0.000,2989,1930,3218
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1657,1.63,122.2,102.2,0.0,155,1763,2.05,2.75,95.25,0.658,4,0.049,0.073,3441,528,2718
$GC,1794,1.63,122.2,91.4,11.3,166,1802,0.00,2.55,0.00,0.000,6,0.000,0.038,3442,1932,2717
$GC,1992,1.63,122.2,70.8,10.5,182,1996,0.00,2.67,0.00,0.000,4,0.000,0.072,3440,528,2717
$GC,2063,1.63,122.2,62.6,11.3,187,2067,0.00,2.50,0.00,0.000,6,0.000,0.037,3440,1924,2717
$GC,2265,1.63,122.2,40.4,10.7,203,2269,0.00,2.67,0.00,0.000,4,0.000,0.072,3440,533,2717
$GC,2349,1.63,122.2,30.4,12.0,209,2357,0.00,2.50,0.00,0.000,6,0.000,0.036,3440,1928,2717
$GC,2550,1.63,122.2,8.9,10.0,232,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1928,2718
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2595,begin surface coast
$FINISH,1.1,1.020065
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2656,begin surface
$SM_CCo,2680,120.62,0.593,0,0,1586,400.08
$SM_GC,1.14,0.00,0.00,120.62,0.000,0.000,0.593,460,1997,1586,-12.05,0.17,400.08
$IRIDIUM_FIX,4719.74,-12251.79,250907,202059
$TT8_MAMPS,0.06903
$HUMID,2038
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.2
$24V_AH,23.7,7.856
$10V_AH,10.1,30.806
$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,31.875,31.125,192.950,120.625,0.000,40.494,40.011,153.029,0.500,99.620,3161.380,43.232,469.860,1503.986,423.587,485.270,300.181,33.334,688.119,0.000,431.379,0.000,5.484
$DEVICE_MAMPS,204.789,72.865,683.397,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.417,0.000,0.000,0.000,0.000,0.000,0.000,3261.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6450,248
$CFSIZE,260034560,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,250907,180457,4739.295,-12252.344,13,1.6,13,18.3