version: 66.02
glider: 106
mission: 8
dive: 71
start: 10 5 107 0 54 27
data:
$ID,106
$MISSION,8
$DIVE,71
$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,350
$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,-49244.695
$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,32
$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
$GPS1,002923,4743.572,-12250.702,12,2.2,32,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-55.8
$GPS2,005321,4743.370,-12250.869,14,1.9,14,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,6_EC
$TGT_LATLONG,4743.563,-12250.725
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,0.193
$KALMAN_X,4470.6,-56.7,-112.4,-1703.6,-83.5
$KALMAN_Y,3264.0,-255.8,-141.2,4335.4,-170.9
$MHEAD_RNG_PITCHd_Wd,8.1,401,-14.4,-7.037
$D_GRID,166
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.26,-125.7,0.0,0.0,0,157,0.00,0.00,-128.15,0.000,2,0.000,0.000,458,1800,3650
$GC,160,-1.26,-127.1,2.5,-6.1,21,179,14.70,0.00,-1.95,0.000,6,0.199,0.000,2817,1800,3739
$GC,247,-1.26,-127.1,12.0,-6.6,34,253,0.00,2.53,0.00,0.000,4,0.000,0.048,2818,3204,3741
$GC,279,-1.26,-127.1,13.6,-5.1,39,285,0.00,2.47,0.00,0.000,6,0.000,0.034,2818,1792,3742
$GC,351,-1.26,-127.1,16.9,-4.6,50,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1792,3743
$GC,424,-1.26,-127.1,19.9,-4.1,61,430,0.00,2.53,0.00,0.000,4,0.000,0.046,2818,3199,3743
$GC,455,-1.26,-127.1,21.4,-4.5,64,462,0.00,2.47,0.00,0.000,6,0.000,0.034,2818,1803,3743
$GC,651,-1.26,-127.1,30.9,-4.8,80,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1803,3744
$GC,842,-1.26,-127.1,40.2,-4.9,95,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1803,3744
$GC,1033,-1.26,-127.1,49.2,-4.9,110,1037,0.00,2.53,0.00,0.000,4,0.000,0.048,2817,3207,3744
$GC,1079,-1.26,-127.1,51.8,-5.2,113,1084,0.00,2.47,0.00,0.000,6,0.000,0.035,2818,1793,3744
$GC,1275,-1.26,-127.1,60.9,-4.8,128,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1794,3744
$GC,1467,-1.26,-127.1,69.8,-5.0,143,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1794,3744
$GC,1655,-1.26,-127.1,79.2,-5.0,158,1659,0.00,2.53,0.00,0.000,4,0.000,0.048,2818,3202,3744
$GC,1700,-1.26,-127.1,81.6,-5.3,161,1704,0.00,2.45,0.00,0.000,6,0.000,0.035,2818,1800,3744
$GC,1896,-1.26,-127.1,90.8,-4.6,176,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1800,3744
$STATE,1994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1994,begin apogee
$GC,2000,-0.38,0.0,95.4,4.5,184,2105,0.95,0.00,97.30,0.670,6,0.087,0.000,3013,1726,3219
$STATE,2106,end apogee,CONTROL_FINISHED_OK
$STATE,2106,begin climb
$GC,2108,1.26,127.1,96.3,0.0,193,2216,1.62,0.00,98.72,0.643,6,0.054,0.000,3375,1726,2699
$GC,2405,1.26,127.1,73.2,9.2,217,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1726,2703
$GC,2595,1.26,127.1,56.1,8.9,232,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1726,2703
$GC,2785,1.26,127.1,40.1,8.5,247,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1726,2703
$GC,2974,1.26,127.1,23.4,8.9,262,2978,0.00,2.65,0.00,0.000,4,0.000,0.080,3375,337,2703
$GC,3026,1.26,127.1,18.4,9.2,266,3032,0.00,2.45,0.00,0.000,6,0.000,0.033,3374,1749,2703
$GC,3098,1.26,127.1,12.2,8.5,277,3104,0.00,2.47,0.00,0.000,4,0.000,0.050,3375,3131,2703
$GC,3185,1.27,133.6,6.0,6.8,290,3197,0.00,2.47,4.65,0.688,6,0.000,0.038,3375,1732,2672
$STATE,3201,end climb,SURFACE_DEPTH_REACHED
$STATE,3201,begin surface coast
$FINISH,-0.3,1.021942
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3315,92.15,0.584,0,0,1791,350.04
$SM_GC,0.19,0.00,0.00,92.15,0.000,0.000,0.584,465,1819,1791,-12.12,0.54,350.04
$IRIDIUM_FIX,4726.11,-12250.84,051007,040433
$TT8_MAMPS,0.069797
$HUMID,2114
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.8
$24V_AH,23.9,6.564
$10V_AH,10.1,5.710
$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,30.300,30.275,200.675,92.150,0.000,117.251,110.531,957.704,0.500,0.000,5099.000,14.058,554.662,2026.916,437.753,517.142,1335.497,33.326,747.802,0.000,488.949,0.000,5.490
$DEVICE_MAMPS,198.653,79.768,687.999,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.008,0.000,0.000,0.000,0.000,0.000,0.000,5099.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9600,306
$CFSIZE,260034560,254758912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,015223,4743.590,-12250.737,13,4.4,33,18.3