version: 66.02
glider: 106
mission: 8
dive: 36
start: 10 3 107 10 29 35
data:
$ID,106
$MISSION,8
$DIVE,36
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,45
$T_MISSION,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-48509.492
$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,22
$R_STBD_OVSHOOT,37
$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,71.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-8.3042984
$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
$GPS1,102308,4741.737,-12251.376,33,1.3,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-62.2
$GPS2,102829,4741.728,-12251.368,17,2.1,36,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,9_XN
$TGT_LATLONG,4741.982,-12251.243
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.206
$KALMAN_X,4119.1,115.0,10.5,-2272.7,-3.8
$KALMAN_Y,5682.0,56.6,-142.0,-1441.7,-86.0
$MHEAD_RNG_PITCHd_Wd,357.6,496,-14.5,-7.037
$D_GRID,130
$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,-1.27,-123.7,0.0,0.0,0,112,0.00,0.00,-85.05,0.000,2,0.000,0.000,461,1793,3471
$GC,114,-1.27,-127.1,2.0,-4.6,14,146,15.10,2.70,-7.03,0.000,4,0.209,0.086,2818,401,3740
$GC,397,-1.27,-127.1,19.7,-4.5,57,403,0.00,2.45,0.00,0.000,6,0.000,0.035,2818,1806,3741
$GC,473,-1.27,-127.1,22.7,-3.8,64,477,0.00,2.50,0.00,0.000,4,0.000,0.049,2818,3199,3742
$GC,550,-1.27,-127.1,26.0,-4.2,69,557,0.00,2.50,0.00,0.000,6,0.000,0.037,2818,1801,3741
$GC,747,-1.27,-127.1,34.3,-3.9,85,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1802,3741
$GC,937,-1.27,-127.1,42.0,-4.3,100,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1801,3742
$GC,1128,-1.27,-127.1,49.9,-4.1,115,1135,0.00,2.53,0.00,0.000,4,0.000,0.049,2818,3200,3741
$GC,1194,-1.27,-127.1,53.0,-4.7,120,1198,0.00,2.47,0.00,0.000,6,0.000,0.037,2818,1800,3741
$GC,1390,-1.27,-127.1,61.1,-4.2,135,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1800,3741
$GC,1580,-1.27,-127.1,68.7,-4.2,150,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1800,3741
$GC,1770,-1.27,-127.1,76.2,-4.2,165,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1800,3742
$GC,1959,-1.27,-127.1,84.3,-4.2,180,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1800,3742
$GC,2150,-1.27,-127.1,92.4,-4.6,195,2154,0.00,2.50,0.00,0.000,4,0.000,0.048,2818,3191,3741
$GC,2187,-1.27,-127.1,94.4,-4.5,197,2195,0.00,2.47,0.00,0.000,6,0.000,0.036,2818,1801,3741
$STATE,2205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2205,begin apogee
$GC,2211,-0.38,0.0,95.2,4.6,199,2316,0.95,0.00,101.53,0.678,6,0.086,0.000,3014,1727,3218
$STATE,2317,end apogee,CONTROL_FINISHED_OK
$STATE,2317,begin climb
$GC,2320,1.27,127.1,96.3,0.0,208,2425,1.67,0.00,98.70,0.647,6,0.052,0.000,3383,1727,2698
$GC,2613,1.27,127.1,72.4,8.8,232,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1727,2696
$GC,2804,1.27,127.1,54.5,9.2,247,2808,0.00,2.67,0.00,0.000,4,0.000,0.080,3383,333,2697
$GC,2841,1.27,127.1,50.5,10.0,249,2849,0.00,2.47,0.00,0.000,6,0.000,0.034,3383,1730,2697
$GC,3038,1.27,127.1,32.0,9.7,265,3042,0.00,2.55,0.00,0.000,4,0.000,0.051,3383,3137,2697
$GC,3070,1.27,127.1,28.9,9.8,267,3075,0.00,2.50,0.00,0.000,6,0.000,0.038,3383,1738,2696
$GC,3271,1.27,127.1,9.9,8.4,290,3277,0.00,2.53,0.00,0.000,4,0.000,0.048,3384,3130,2696
$GC,3323,1.27,127.1,6.1,7.2,298,3330,0.00,2.47,0.00,0.000,6,0.000,0.038,3384,1736,2696
$STATE,3340,end climb,SURFACE_DEPTH_REACHED
$STATE,3341,begin surface coast
$FINISH,-0.4,1.021941
$STATE,3423,end surface coast,CONTROL_FINISHED_OK
$STATE,3423,begin surface
$SM_CCo,3450,116.90,0.584,0,0,1585,400.08
$SM_GC,0.25,0.00,0.00,116.90,0.000,0.000,0.584,464,1819,1585,-12.13,0.54,400.08
$IRIDIUM_FIX,4722.92,-12251.79,031007,131331
$TT8_MAMPS,0.070564
$HUMID,2156
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.9
$24V_AH,23.9,3.248
$10V_AH,10.0,2.831
$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,31.050,35.575,200.225,116.900,0.000,37.984,32.451,118.202,0.500,29.060,3994.940,37.257,576.911,2027.152,437.243,553.572,320.172,33.352,745.242,0.000,505.732,0.000,5.509
$DEVICE_MAMPS,208.624,85.904,678.028,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,210.573,0.000,0.000,0.000,0.000,0.000,0.000,4024.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9550,313
$CFSIZE,260034560,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,112945,4741.992,-12251.325,9,1.9,9,18.3