version: 66.02
glider: 106
mission: 2
dive: 3
start: 9 16 107 19 52 46
data:
$ID,106
$MISSION,2
$DIVE,3
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-4
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-30150.166
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3000
$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,2008
$C_ROLL_CLIMB,2008
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$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,-8.2799959
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$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
$GPS1,194648,4807.556,-12223.832,15,3.2,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.8
$GPS2,195154,4807.572,-12223.820,18,2.2,37,18.3
$SPEED_LIMITS,0.173,0.240
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.177
$KALMAN_X,-95.1,-58.2,-57.1,249.2,-42.0
$KALMAN_Y,120.4,72.1,70.6,-253.0,51.0
$MHEAD_RNG_PITCHd_Wd,119.3,1467,-20.0,-10.000
$D_GRID,102
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.69,-122.2,0.0,0.0,0,133,0.00,0.00,-108.43,0.000,6,0.000,0.000,462,2018,3718
$GC,135,-1.69,-122.2,2.1,-1.9,18,154,13.73,2.60,0.00,0.000,4,0.201,0.059,2628,3413,3722
$GC,404,-1.69,-122.2,16.9,-5.4,59,411,0.00,2.55,0.00,0.000,6,0.000,0.045,2628,2011,3723
$GC,482,-1.69,-122.2,20.8,-5.3,70,486,0.00,2.58,0.00,0.000,4,0.000,0.058,2628,3413,3724
$GC,514,-1.69,-122.2,22.7,-6.2,72,522,0.00,2.53,0.00,0.000,6,0.000,0.044,2628,2003,3724
$GC,710,-1.69,-122.2,33.7,-5.8,88,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2005,3724
$GC,900,-1.69,-122.2,43.8,-5.6,103,904,0.00,2.60,0.00,0.000,4,0.000,0.059,2628,3412,3724
$STATE,909,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,909,begin apogee
$GC,915,-0.38,0.0,44.6,5.1,103,1018,1.42,0.00,95.43,0.645,6,0.108,0.000,2909,2008,3218
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1020,1.69,122.2,45.0,0.0,112,1121,2.08,2.78,92.12,0.623,4,0.062,0.078,3368,610,2718
$GC,1280,1.69,122.2,16.1,12.3,134,1287,0.00,2.53,0.00,0.000,6,0.000,0.044,3368,2012,2717
$GC,1352,1.69,122.2,7.6,11.5,145,1359,0.00,2.72,0.00,0.000,4,0.000,0.074,3368,600,2718
$GC,1397,1.69,122.2,2.6,10.8,152,1405,0.00,2.55,0.00,0.000,6,0.000,0.044,3368,2002,2717
$STATE,1408,end climb,SURFACE_DEPTH_REACHED
$STATE,1409,begin surface coast
$FINISH,0.0,1.019726
$STATE,1430,end surface coast,CONTROL_FINISHED_OK
$STATE,1430,begin surface
$SM_CCo,1453,161.00,0.583,0,0,1178,500.17
$SM_GC,0.63,0.00,0.00,161.00,0.000,0.000,0.583,461,2003,1178,-11.68,-0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,160907,232358
$TT8_MAMPS,0.074399
$HUMID,2065
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.8
$ALTIM_BOTTOM_PING,27.3,28.1
$24V_AH,23.2,0.505
$10V_AH,10.0,0.474
$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,30.500,25.975,187.550,161.000,0.000,39.506,34.968,124.918,0.500,24.900,2013.100,38.596,296.563,619.485,459.924,321.260,240.736,31.413,658.448,0.000,280.638,0.000,4.099
$DEVICE_MAMPS,200.954,78.234,645.047,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,103.609,0.000,0.000,0.000,0.000,0.000,0.000,2038.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3300,157
$CFSIZE,260034560,257777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160907,202022,4807.486,-12223.760,11,1.8,11,18.3