version: 66.02
glider: 106
mission: 8
dive: 113
start: 10 6 107 20 59 6
data:
$ID,106
$MISSION,8
$DIVE,113
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,40
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-50373.887
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,204150,4743.719,-12250.127,10,1.1,10,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-57.0
$GPS2,205744,4743.852,-12249.962,12,1.2,17,18.3
$SPEED_LIMITS,0.286,0.296
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,-0.244
$KALMAN_X,4832.8,297.8,197.3,-1613.6,16.4
$KALMAN_Y,2780.0,267.6,241.1,4786.5,32.1
$MHEAD_RNG_PITCHd_Wd,196.2,1828,-32.7,-20.000
$D_GRID,171
$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,26,-2.65,-107.5,0.0,0.0,0,107,0.00,0.00,-79.53,0.000,2,0.000,0.000,460,1796,3585
$GC,110,-2.65,-107.5,2.2,-5.8,13,129,13.25,0.00,-1.73,0.000,6,0.212,0.000,2514,1796,3659
$GC,196,-2.65,-107.5,13.5,-11.3,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1797,3660
$GC,268,-2.65,-107.5,21.3,-9.7,36,272,0.00,2.62,0.00,0.000,4,0.000,0.067,2514,398,3660
$GC,367,-2.65,-107.5,31.2,-10.7,43,371,0.00,2.45,0.00,0.000,6,0.000,0.032,2514,1811,3661
$GC,567,-2.65,-107.5,50.3,-9.9,58,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1811,3661
$GC,753,-2.65,-107.5,69.4,-10.3,73,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1811,3661
$GC,942,-2.65,-107.5,89.1,-10.4,88,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1811,3661
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,957,-0.38,0.0,90.5,10.3,89,1051,2.65,0.00,85.22,0.676,6,0.130,0.000,3013,1726,3216
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,2.65,107.5,91.8,0.0,97,1146,2.97,0.00,82.28,0.642,6,0.046,0.000,3695,1726,2779
$GC,1335,2.67,122.5,46.4,18.5,120,1352,0.00,2.67,11.07,0.653,4,0.000,0.072,3695,341,2718
$GC,1466,2.67,122.5,19.2,21.4,130,1472,0.00,2.42,0.00,0.000,6,0.000,0.031,3695,1730,2718
$GC,1538,2.67,122.8,5.2,20.0,141,1544,0.00,2.65,0.00,0.000,4,0.000,0.070,3695,337,2718
$STATE,1548,end climb,SURFACE_DEPTH_REACHED
$STATE,1548,begin surface coast
$FINISH,-0.2,1.011800
$STATE,1576,end surface coast,CONTROL_FINISHED_OK
$STATE,1576,begin surface
$SM_CCo,1606,96.75,0.572,0,0,1791,350.04
$SM_GC,0.30,0.00,0.00,96.75,0.000,0.000,0.572,460,1796,1791,-12.14,-0.11,350.04
$IRIDIUM_FIX,4726.11,-12255.26,071007,000051
$TT8_MAMPS,0.070564
$HUMID,2091
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,52.5
$24V_AH,23.9,10.288
$10V_AH,10.1,9.014
$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,33.300,15.575,178.575,96.750,0.000,0.000,0.000,0.000,0.500,0.000,1780.000,16.985,308.889,793.742,372.805,266.801,64.863,33.330,549.042,0.000,259.103,0.000,5.487
$DEVICE_MAMPS,212.459,72.098,675.727,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,97.508,0.000,0.000,0.000,0.000,0.000,0.000,1780.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3326,147
$CFSIZE,260034560,253386752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,212815,4743.781,-12250.016,12,1.0,12,18.3