version: 66.02
glider: 106
mission: 7
dive: 151
start: 9 30 107 12 42 41
data:
$ID,106
$MISSION,7
$DIVE,151
$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,-46305.074
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,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,23
$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
$GPS1,123539,4739.516,-12252.473,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-57.1
$GPS2,124133,4739.596,-12252.399,13,1.7,13,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.002,-0.165
$KALMAN_X,4366.0,274.1,28.6,-4914.4,1.2
$KALMAN_Y,7010.8,511.5,49.1,-7885.2,9.6
$MHEAD_RNG_PITCHd_Wd,162.5,240,-27.8,-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,-2.21,-58.7,0.0,0.0,0,105,0.00,0.00,-79.07,0.000,2,0.000,0.000,460,1803,3287
$GC,108,-2.27,-105.0,2.1,-4.5,13,140,13.88,2.53,-10.65,0.000,4,0.213,0.061,2601,3193,3648
$GC,245,-2.29,-122.2,12.7,-6.4,34,252,0.00,2.47,-1.23,0.000,6,0.000,0.038,2601,1799,3720
$GC,319,-2.29,-122.2,18.0,-8.0,45,325,0.00,2.53,0.00,0.000,4,0.000,0.047,2601,3202,3721
$GC,384,-2.29,-122.2,23.9,-8.9,52,388,0.00,2.47,0.00,0.000,6,0.000,0.038,2601,1797,3721
$GC,586,-2.29,-122.2,40.6,-8.1,68,590,0.00,2.65,0.00,0.000,4,0.000,0.073,2601,395,3721
$GC,664,-2.29,-122.2,47.2,-8.3,73,671,0.00,2.47,0.00,0.000,6,0.000,0.035,2601,1800,3721
$GC,860,-2.29,-122.2,63.1,-8.0,89,864,0.00,2.50,0.00,0.000,4,0.000,0.049,2601,3196,3721
$GC,906,-2.29,-122.2,66.9,-8.4,92,910,0.00,2.47,0.00,0.000,6,0.000,0.038,2601,1790,3721
$GC,1101,-2.29,-122.2,83.0,-8.6,107,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1790,3721
$GC,1292,-2.29,-122.2,99.2,-8.5,122,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1790,3721
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1306,-0.38,0.0,100.3,8.5,123,1412,2.12,0.00,98.45,0.682,6,0.117,0.000,3012,1729,3216
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,2.29,122.2,101.9,0.0,132,1521,2.65,2.70,94.78,0.653,4,0.049,0.077,3601,341,2719
$GC,1594,2.29,122.2,76.8,18.2,146,1601,0.00,2.47,0.00,0.000,6,0.000,0.034,3601,1731,2716
$GC,1790,2.29,122.2,43.0,17.1,162,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1736,2716
$GC,1982,2.29,122.2,10.3,17.2,181,1988,0.00,2.67,0.00,0.000,4,0.000,0.074,3601,337,2716
$STATE,2012,end climb,SURFACE_DEPTH_REACHED
$STATE,2012,begin surface coast
$FINISH,0.1,1.002436
$STATE,2040,end surface coast,CONTROL_FINISHED_OK
$STATE,2040,begin surface
$SM_CCo,2069,119.35,0.577,0,0,1586,400.08
$SM_GC,0.87,0.00,0.00,119.35,0.000,0.000,0.577,459,1812,1586,-12.15,0.31,400.08
$IRIDIUM_FIX,4726.11,-12243.73,300907,151539
$TT8_MAMPS,0.06903
$HUMID,1999
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,52.1
$24V_AH,23.9,18.152
$10V_AH,10.1,39.432
$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,32.525,30.675,193.225,119.350,0.000,37.620,38.277,159.523,0.500,0.000,2654.000,13.702,366.666,1081.875,418.373,359.491,346.937,33.320,641.053,0.000,332.999,0.000,5.485
$DEVICE_MAMPS,213.226,85.904,681.863,576.784,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.566,0.000,0.000,0.000,0.000,0.000,0.000,2654.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6433,190
$CFSIZE,260034560,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,131957,4739.434,-12252.483,14,1.4,14,18.3