version: 66.02
glider: 106
mission: 8
dive: 137
start: 10 7 107 14 37 33
data:
$ID,106
$MISSION,8
$DIVE,137
$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,35
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-51061.016
$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,19
$R_STBD_OVSHOOT,49
$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
$GPS1,143008,4744.318,-12250.599,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-56.6
$GPS2,143627,4744.401,-12250.624,11,1.8,11,18.3
$SPEED_LIMITS,0.184,0.248
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.247
$KALMAN_X,5730.0,6.3,-10.8,-2826.3,-7.1
$KALMAN_Y,8847.5,927.2,29.1,-704.7,92.4
$MHEAD_RNG_PITCHd_Wd,165.5,2514,-15.9,-8.571
$D_GRID,145
$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,-1.40,-146.6,0.0,0.0,0,106,0.00,0.00,-79.10,0.000,2,0.000,0.000,461,1829,3515
$GC,109,-1.40,-146.6,2.1,-6.3,13,140,14.85,2.75,-7.93,0.000,4,0.207,0.082,2791,388,3819
$GC,272,-1.40,-146.6,15.5,-6.9,38,278,0.00,2.45,0.00,0.000,6,0.000,0.033,2790,1797,3819
$GC,344,-1.40,-146.6,20.3,-7.0,49,348,0.00,2.50,0.00,0.000,4,0.000,0.049,2791,3188,3820
$GC,390,-1.40,-146.6,23.3,-6.8,52,394,0.00,2.47,0.00,0.000,6,0.000,0.035,2791,1785,3820
$GC,585,-1.40,-146.6,34.4,-5.6,67,589,0.00,2.55,0.00,0.000,4,0.000,0.048,2791,3197,3820
$GC,726,-1.40,-146.6,42.3,-5.7,77,731,0.00,2.47,0.00,0.000,6,0.000,0.035,2791,1793,3820
$GC,922,-1.40,-146.6,53.2,-5.4,92,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1792,3820
$GC,1114,-1.40,-146.6,63.6,-5.3,107,1118,0.00,2.53,0.00,0.000,4,0.000,0.048,2791,3194,3820
$GC,1159,-1.40,-146.6,66.3,-5.7,110,1164,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,1800,3820
$GC,1355,-1.40,-146.6,77.0,-5.5,125,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1800,3820
$GC,1546,-1.40,-146.6,87.3,-5.4,140,1550,0.00,2.50,0.00,0.000,4,0.000,0.048,2791,3191,3820
$GC,1591,-1.40,-146.6,89.9,-5.7,143,1595,0.00,2.22,0.00,0.000,3,0.000,0.034,2791,1905,3820
$STATE,1596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1596,begin apogee
$GC,1602,-0.38,0.0,90.2,5.2,143,1722,1.08,0.00,115.75,0.663,6,0.096,0.000,3010,1723,3218
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1727,1.40,146.6,91.8,0.0,153,1849,1.80,2.60,113.40,0.631,4,0.061,0.048,3411,3123,2619
$GC,1868,1.40,146.6,80.7,10.6,164,1876,0.00,2.50,0.00,0.000,6,0.000,0.035,3411,1743,2618
$GC,2065,1.40,146.6,60.0,10.4,180,2069,0.00,2.72,0.00,0.000,4,0.000,0.081,3411,326,2618
$GC,2102,1.40,146.6,55.6,11.3,182,2110,0.00,2.47,0.00,0.000,6,0.000,0.032,3411,1725,2617
$GC,2299,1.40,146.6,34.8,9.6,198,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1726,2617
$GC,2490,1.43,168.2,16.3,7.7,216,2515,0.00,2.60,16.15,0.636,4,0.000,0.048,3411,3130,2531
$STATE,2599,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,-0.2,1.022253
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2682,77.85,0.575,0,0,1790,350.04
$SM_GC,0.22,0.00,0.00,77.85,0.000,0.000,0.575,463,1794,1790,-12.13,-0.14,350.04
$IRIDIUM_FIX,4726.11,-12250.84,071007,171732
$TT8_MAMPS,0.073632
$HUMID,2115
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,52.1
$24V_AH,23.9,12.082
$10V_AH,10.1,10.417
$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,30.975,40.575,245.300,77.850,0.000,41.301,66.987,154.805,0.500,0.000,3260.000,11.410,453.905,1453.000,429.670,439.463,390.949,33.336,694.260,0.000,414.366,0.000,5.485
$DEVICE_MAMPS,207.090,82.069,663.455,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,161.186,0.000,0.000,0.000,0.000,0.000,0.000,3260.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6426,241
$CFSIZE,260034560,252710912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,152437,4744.254,-12250.611,13,1.6,29,18.3