version: 66.02
glider: 106
mission: 8
dive: 140
start: 10 7 107 17 43 34
data:
$ID,106
$MISSION,8
$DIVE,140
$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,30
$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,-51121.773
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,173005,4744.204,-12250.688,14,2.5,33,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-49.2
$GPS2,174227,4744.305,-12250.689,12,1.4,12,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,-0.247
$KALMAN_X,5767.5,-82.9,50.2,-2917.7,-10.5
$KALMAN_Y,10101.6,719.9,177.2,-2077.0,97.1
$MHEAD_RNG_PITCHd_Wd,163.7,2330,-15.9,-8.571
$D_GRID,147
$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,-1.40,-146.6,0.0,0.0,0,163,0.00,0.00,-134.18,0.000,2,0.000,0.000,460,1815,3757
$GC,165,-1.40,-146.6,2.4,-5.1,22,190,14.90,2.53,-1.33,0.000,4,0.209,0.061,2788,3186,3818
$GC,196,-1.40,-146.6,8.7,-19.3,27,203,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,1801,3820
$GC,269,-1.40,-146.6,14.4,-7.6,38,275,0.00,2.65,0.00,0.000,4,0.000,0.073,2788,400,3822
$GC,308,-1.40,-146.6,17.2,-7.8,44,314,0.00,2.45,0.00,0.000,6,0.000,0.033,2787,1805,3822
$GC,379,-1.40,-146.6,22.1,-6.9,53,383,0.00,2.47,0.00,0.000,4,0.000,0.048,2788,3193,3822
$GC,464,-1.40,-146.6,27.6,-6.2,59,468,0.00,2.47,0.00,0.000,6,0.000,0.035,2788,1793,3822
$GC,659,-1.40,-146.6,38.8,-5.8,74,664,0.00,2.62,0.00,0.000,4,0.000,0.072,2788,394,3823
$GC,739,-1.40,-146.6,43.7,-6.4,80,743,0.00,2.45,0.00,0.000,6,0.000,0.031,2788,1806,3823
$GC,934,-1.40,-146.6,55.1,-6.3,95,938,0.00,2.47,0.00,0.000,4,0.000,0.048,2788,3191,3823
$GC,985,-1.40,-146.6,58.3,-6.3,98,992,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1801,3823
$GC,1182,-1.40,-146.6,69.2,-5.6,114,1186,0.00,2.50,0.00,0.000,4,0.000,0.047,2787,3195,3823
$GC,1234,-1.40,-146.6,72.1,-5.7,118,1238,0.00,2.45,0.00,0.000,6,0.000,0.035,2788,1795,3823
$GC,1436,-1.40,-146.6,83.2,-5.4,134,1441,0.00,2.50,0.00,0.000,4,0.000,0.046,2788,3191,3823
$GC,1488,-1.40,-146.6,86.1,-6.3,137,1495,0.00,2.47,0.00,0.000,6,0.000,0.034,2787,1797,3823
$STATE,1568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1568,begin apogee
$GC,1574,-0.38,0.0,90.5,5.3,144,1693,1.12,0.00,114.95,0.655,6,0.097,0.000,3015,1731,3219
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1698,1.40,146.6,91.8,0.0,154,1819,1.77,0.00,112.22,0.630,6,0.058,0.000,3404,1731,2620
$GC,2009,1.40,146.6,63.2,10.5,179,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1731,2624
$GC,2198,1.40,146.6,43.6,10.3,194,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1731,2624
$GC,2387,1.40,146.6,25.0,9.6,209,2392,0.00,2.65,0.00,0.000,4,0.000,0.077,3404,340,2624
$GC,2419,1.40,146.6,21.8,9.9,211,2423,0.00,2.42,0.00,0.000,6,0.000,0.032,3404,1734,2624
$STATE,2615,end climb,SURFACE_DEPTH_REACHED
$STATE,2615,begin surface coast
$FINISH,-0.3,1.022231
$STATE,2676,end surface coast,CONTROL_FINISHED_OK
$STATE,2676,begin surface
$SM_CCo,2702,87.43,0.585,0,0,1790,350.04
$SM_GC,0.18,0.00,0.00,87.43,0.000,0.000,0.585,461,1803,1790,-12.14,0.06,350.04
$IRIDIUM_FIX,4726.11,-12250.84,071007,212111
$TT8_MAMPS,0.073632
$HUMID,2112
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.1
$24V_AH,23.9,12.371
$10V_AH,10.1,10.654
$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,30.850,40.225,227.175,87.425,0.000,77.206,74.789,396.963,0.500,0.000,3787.000,12.565,457.271,1496.680,445.877,468.279,692.562,33.334,739.077,0.000,437.237,0.000,5.485
$DEVICE_MAMPS,208.624,83.603,655.018,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,165.374,0.000,0.000,0.000,0.000,0.000,0.000,3787.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6471,248
$CFSIZE,260034560,252596224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,183056,4744.125,-12250.665,12,1.9,17,18.3