version: 66.02
glider: 106
mission: 7
dive: 66
start: 9 27 107 5 42 45
data:
$ID,106
$MISSION,7
$DIVE,66
$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,-44487.137
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,053645,4739.452,-12252.349,14,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.7
$GPS2,054138,4739.472,-12252.352,14,1.6,14,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.234,-0.029
$KALMAN_X,2328.0,-20.0,60.5,-2555.1,51.2
$KALMAN_Y,2208.7,63.5,134.5,-2944.0,56.1
$MHEAD_RNG_PITCHd_Wd,244.7,1061,-19.2,-9.524
$D_GRID,125
$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,-122.2,0.0,0.0,0,74,0.00,0.00,-49.75,0.000,2,0.000,0.000,461,2004,2720
$GC,77,-1.63,-122.2,2.0,-3.0,8,144,14.50,2.72,-42.47,0.000,4,0.209,0.080,2723,589,3719
$GC,393,-1.63,-122.2,21.6,-6.6,55,401,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1984,3720
$GC,590,-1.63,-122.2,33.8,-6.6,71,595,0.00,2.62,0.00,0.000,4,0.000,0.065,2723,581,3721
$GC,702,-1.63,-122.2,40.9,-6.2,79,706,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1998,3722
$GC,904,-1.63,-122.2,53.5,-6.3,95,908,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,585,3721
$GC,988,-1.63,-122.2,59.3,-6.6,101,996,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1982,3722
$GC,1185,-1.63,-122.2,72.1,-6.2,117,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1981,3721
$GC,1375,-1.63,-122.2,83.7,-6.2,132,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1981,3721
$GC,1564,-1.63,-122.2,94.8,-6.0,147,1568,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,591,3723
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1649,begin apogee
$GC,1655,-0.38,0.0,100.0,6.0,153,1758,1.33,0.00,97.80,0.674,6,0.097,0.000,2992,1937,3218
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1761,1.63,122.2,101.5,0.0,162,1865,1.98,2.80,95.43,0.650,4,0.052,0.072,3439,527,2718
$GC,1918,1.63,122.2,87.9,12.1,174,1922,0.00,2.50,0.00,0.000,6,0.000,0.036,3439,1921,2716
$GC,2120,1.63,122.2,65.0,10.8,190,2124,0.00,2.65,0.00,0.000,4,0.000,0.071,3439,531,2716
$GC,2199,1.63,122.2,56.7,10.1,196,2203,0.00,2.50,0.00,0.000,6,0.000,0.035,3439,1934,2716
$GC,2401,1.63,122.2,36.0,10.1,212,2405,0.00,2.67,0.00,0.000,4,0.000,0.071,3439,530,2715
$GC,2506,1.63,122.2,24.1,11.4,220,2510,0.00,2.50,0.00,0.000,6,0.000,0.035,3439,1931,2715
$STATE,2707,end climb,SURFACE_DEPTH_REACHED
$STATE,2707,begin surface coast
$FINISH,1.4,1.019950
$STATE,2795,end surface coast,CONTROL_FINISHED_OK
$STATE,2795,begin surface
$SM_CCo,2820,119.28,0.586,0,0,1586,400.08
$SM_GC,1.08,0.00,0.00,119.28,0.000,0.000,0.586,461,2004,1586,-12.05,0.40,400.08
$IRIDIUM_FIX,4722.92,-12251.79,270907,080805
$TT8_MAMPS,0.06903
$HUMID,2048
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.0
$24V_AH,23.8,11.401
$10V_AH,10.1,33.539
$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,31.825,36.150,193.225,119.275,0.000,38.697,36.474,122.564,0.500,8.300,3339.700,14.983,491.355,1578.461,417.075,496.984,281.012,33.332,701.973,0.000,471.388,0.000,5.484
$DEVICE_MAMPS,208.624,79.768,674.193,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.618,0.000,0.000,0.000,0.000,0.000,0.000,3348.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,260
$CFSIZE,260034560,255078400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,063232,4739.467,-12252.694,9,1.5,14,18.3