version: 66.02
glider: 106
mission: 8
dive: 82
start: 10 5 107 13 10 32
data:
$ID,106
$MISSION,8
$DIVE,82
$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,-49498.367
$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,35
$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
$GPS1,124950,4743.223,-12250.763,24,1.5,37,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-63.3
$GPS2,130926,4743.190,-12250.773,13,1.1,18,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.066
$KALMAN_X,3300.8,-196.4,-6.8,-384.2,-6.1
$KALMAN_Y,1735.7,-153.0,43.6,5236.7,7.6
$MHEAD_RNG_PITCHd_Wd,231.8,297,-16.6,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.39,-97.8,0.0,0.0,0,102,0.00,0.00,-73.75,0.000,2,0.000,0.000,461,1791,3452
$GC,104,-1.43,-127.1,2.1,-5.0,12,135,14.70,2.58,-7.15,0.000,4,0.205,0.060,2783,3189,3740
$GC,295,-1.43,-127.1,17.6,-6.1,41,302,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1789,3741
$GC,366,-1.43,-127.1,21.5,-5.4,50,370,0.00,2.62,0.00,0.000,4,0.000,0.073,2783,397,3742
$GC,399,-1.43,-127.1,23.4,-6.2,52,403,0.00,2.45,0.00,0.000,6,0.000,0.032,2783,1812,3742
$GC,594,-1.43,-127.1,34.1,-5.5,67,598,0.00,2.47,0.00,0.000,4,0.000,0.048,2783,3194,3742
$GC,645,-1.43,-127.1,37.0,-5.6,70,653,0.00,2.50,0.00,0.000,6,0.000,0.035,2783,1792,3742
$GC,842,-1.43,-127.1,47.6,-5.3,86,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1792,3742
$GC,1031,-1.43,-127.1,57.9,-5.5,101,1035,0.00,2.53,0.00,0.000,4,0.000,0.048,2783,3195,3742
$GC,1096,-1.43,-127.1,61.6,-5.7,105,1103,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1805,3742
$GC,1292,-1.43,-127.1,72.0,-5.6,121,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1805,3742
$GC,1483,-1.43,-127.1,82.5,-5.5,136,1487,0.00,2.50,0.00,0.000,4,0.000,0.048,2783,3191,3742
$GC,1529,-1.43,-127.1,85.2,-5.9,139,1533,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,1798,3742
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1715,-0.38,0.0,95.4,5.7,153,1821,1.15,0.00,101.50,0.671,6,0.094,0.000,3017,1723,3218
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1824,1.43,127.1,96.8,0.0,162,1929,1.83,0.00,99.15,0.641,6,0.052,0.000,3416,1723,2698
$GC,2117,1.43,127.1,71.7,10.3,186,2122,0.00,2.65,0.00,0.000,4,0.000,0.078,3416,338,2697
$GC,2168,1.43,127.1,65.9,11.4,189,2176,0.00,2.45,0.00,0.000,6,0.000,0.033,3416,1724,2697
$GC,2365,1.43,127.1,46.1,10.3,205,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1727,2697
$GC,2557,1.43,127.1,27.0,10.1,220,2561,0.00,2.53,0.00,0.000,4,0.000,0.050,3416,3127,2697
$GC,2595,1.43,127.1,22.7,10.6,222,2602,0.00,2.50,0.00,0.000,6,0.000,0.037,3416,1741,2696
$STATE,2797,end climb,SURFACE_DEPTH_REACHED
$STATE,2797,begin surface coast
$FINISH,-0.4,1.001117
$STATE,2884,end surface coast,CONTROL_FINISHED_OK
$STATE,2885,begin surface
$SM_CCo,2912,94.65,0.581,0,0,1790,350.04
$SM_GC,0.30,0.00,0.00,94.65,0.000,0.000,0.581,463,1812,1790,-12.13,0.34,350.04
$IRIDIUM_FIX,4729.30,-12255.26,051007,171752
$TT8_MAMPS,0.069797
$HUMID,2125
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,52.0
$24V_AH,23.9,7.620
$10V_AH,10.1,6.629
$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,31.025,35.400,200.650,94.650,0.000,192.295,354.369,244.943,0.500,40.910,4281.090,18.682,497.876,1893.276,404.220,470.630,944.620,33.337,674.096,0.000,440.883,0.000,5.486
$DEVICE_MAMPS,204.789,78.234,671.125,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.292,0.000,0.000,0.000,0.000,0.000,0.000,4322.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6436,264
$CFSIZE,260034560,254427136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,140147,4743.117,-12251.209,13,3.2,33,18.3