version: 66.02
glider: 106
mission: 7
dive: 155
start: 9 30 107 16 15 44
data:
$ID,106
$MISSION,7
$DIVE,155
$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,-46389.836
$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,17
$R_STBD_OVSHOOT,33
$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
$GPS1,160829,4739.536,-12252.632,11,3.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-58.0
$GPS2,161438,4739.608,-12252.523,11,1.9,22,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.152
$KALMAN_X,4726.0,217.8,-16.3,-5331.5,34.5
$KALMAN_Y,7755.3,415.1,24.5,-8484.9,29.9
$MHEAD_RNG_PITCHd_Wd,138.7,302,-27.8,-9.524
$D_GRID,123
$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,23,begin dive
$GC,25,-2.21,-58.7,0.0,0.0,0,105,0.00,0.00,-77.72,0.000,2,0.000,0.000,461,1799,3245
$GC,108,-2.27,-104.1,2.0,-4.6,13,145,13.90,2.58,-13.55,0.000,4,0.215,0.060,2600,3198,3645
$GC,396,-2.29,-121.2,21.0,-7.7,56,402,0.00,2.50,-0.95,0.000,6,0.000,0.038,2600,1789,3717
$GC,592,-2.29,-122.2,34.9,-7.9,71,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1789,3719
$GC,781,-2.29,-122.2,51.8,-9.7,86,785,0.00,2.62,0.00,0.000,4,0.000,0.074,2600,398,3719
$GC,799,-2.29,-122.2,53.8,-10.3,87,806,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,1804,3719
$GC,995,-2.29,-122.2,71.9,-9.6,103,999,0.00,2.50,0.00,0.000,4,0.000,0.049,2600,3199,3719
$GC,1074,-2.29,-122.2,80.2,-10.8,109,1078,0.00,2.47,0.00,0.000,6,0.000,0.037,2600,1795,3719
$GC,1269,-2.29,-122.2,99.4,-9.6,124,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1795,3719
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1286,-0.38,0.0,100.6,9.6,125,1391,2.12,0.00,98.25,0.679,6,0.117,0.000,3010,1720,3217
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1394,2.29,122.2,102.9,0.0,134,1496,2.62,0.00,95.53,0.653,6,0.049,0.000,3614,1720,2719
$GC,1679,2.29,122.2,60.8,17.7,157,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1720,2716
$GC,1870,2.29,122.2,26.3,18.3,172,1874,0.00,2.65,0.00,0.000,4,0.000,0.080,3614,340,2716
$STATE,1979,end climb,SURFACE_DEPTH_REACHED
$STATE,1979,begin surface coast
$FINISH,0.5,1.021805
$STATE,2007,end surface coast,CONTROL_FINISHED_OK
$STATE,2007,begin surface
$SM_CCo,2037,119.43,0.575,0,0,1586,400.08
$SM_GC,0.85,0.00,0.00,119.43,0.000,0.000,0.575,460,1811,1586,-12.14,0.31,400.08
$IRIDIUM_FIX,4722.92,-12305.05,300907,191922
$TT8_MAMPS,0.069797
$HUMID,2008
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.9
$24V_AH,23.8,18.468
$10V_AH,10.1,39.696
$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,32.925,20.525,193.775,119.425,0.000,38.305,35.152,166.342,0.500,33.200,2619.800,22.178,356.109,1085.680,411.185,350.900,349.666,33.326,617.445,0.000,317.232,0.000,6.771
$DEVICE_MAMPS,214.760,79.768,678.795,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,126.956,0.000,0.000,0.000,0.000,0.000,0.000,2653.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3302,190
$CFSIZE,260034560,252334080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,165227,4739.512,-12252.343,13,2.0,13,18.3