version: 66.02
glider: 106
mission: 8
dive: 141
start: 10 7 107 18 39 4
data:
$ID,106
$MISSION,8
$DIVE,141
$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,-51138.578
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,183056,4744.125,-12250.665,12,1.9,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-58.6
$GPS2,183757,4744.164,-12250.661,16,1.8,16,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.247
$KALMAN_X,5814.8,-92.0,53.6,-2924.8,-8.0
$KALMAN_Y,10332.3,659.0,238.8,-2567.2,69.2
$MHEAD_RNG_PITCHd_Wd,165.5,2072,-15.9,-8.571
$D_GRID,158
$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,-1.40,-146.6,0.0,0.0,0,114,0.00,0.00,-85.07,0.000,2,0.000,0.000,461,1802,3695
$GC,116,-1.40,-146.6,2.5,-6.0,14,142,14.88,2.55,-2.78,0.000,4,0.208,0.061,2787,3198,3818
$GC,168,-1.40,-146.6,10.1,-9.2,22,174,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1798,3820
$GC,240,-1.40,-146.6,15.6,-7.3,33,246,0.00,2.65,0.00,0.000,4,0.000,0.071,2787,394,3821
$GC,292,-1.40,-146.6,20.0,-8.2,41,296,0.00,2.45,0.00,0.000,6,0.000,0.031,2787,1808,3821
$GC,487,-1.40,-146.6,32.8,-6.3,56,491,0.00,2.47,0.00,0.000,4,0.000,0.048,2787,3197,3821
$GC,559,-1.40,-146.6,37.0,-6.0,61,566,0.00,2.50,0.00,0.000,6,0.000,0.035,2787,1794,3821
$GC,755,-1.40,-146.6,48.1,-5.6,77,759,0.00,2.53,0.00,0.000,4,0.000,0.046,2787,3193,3821
$GC,796,-1.40,-146.6,50.3,-5.8,79,802,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,1798,3821
$GC,991,-1.40,-146.6,61.6,-5.6,95,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1798,3821
$GC,1182,-1.40,-146.6,72.4,-5.6,110,1186,0.00,2.50,0.00,0.000,4,0.000,0.047,2787,3191,3821
$GC,1273,-1.40,-146.6,78.0,-6.2,116,1280,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1798,3821
$GC,1470,-1.40,-146.6,89.2,-5.9,132,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1798,3821
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1498,-0.38,0.0,90.7,5.8,134,1617,1.12,0.00,115.05,0.663,6,0.095,0.000,3015,1722,3218
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1618,begin climb
$GC,1622,1.40,146.6,92.1,0.0,144,1745,1.77,2.70,112.40,0.630,4,0.056,0.077,3406,334,2619
$GC,1785,1.40,146.6,79.2,10.9,157,1789,0.00,2.45,0.00,0.000,6,0.000,0.032,3406,1728,2620
$GC,1987,1.40,146.6,57.6,10.4,173,1991,0.00,2.55,0.00,0.000,4,0.000,0.049,3406,3139,2620
$GC,2038,1.40,146.6,51.9,10.5,176,2045,0.00,2.50,0.00,0.000,6,0.000,0.036,3406,1749,2620
$GC,2234,1.40,146.6,31.4,10.3,192,2239,0.00,2.72,0.00,0.000,4,0.000,0.079,3406,327,2620
$GC,2299,1.40,146.6,24.5,10.4,196,2306,0.00,2.50,0.00,0.000,6,0.000,0.031,3406,1742,2620
$GC,2502,1.40,146.6,6.7,9.1,223,2508,0.00,2.70,0.00,0.000,4,0.000,0.074,3406,326,2619
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,-0.4,1.022236
$STATE,2575,end surface coast,CONTROL_FINISHED_OK
$STATE,2575,begin surface
$SM_CCo,2602,86.82,0.578,0,0,1790,350.04
$SM_GC,0.31,0.00,0.00,86.82,0.000,0.000,0.578,460,1820,1790,-12.14,0.57,350.04
$IRIDIUM_FIX,4726.11,-12250.84,071007,212137
$TT8_MAMPS,0.069797
$HUMID,2108
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,52.2
$24V_AH,23.9,12.449
$10V_AH,10.1,10.722
$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,30.875,45.925,227.450,86.825,0.000,40.189,37.762,208.967,0.500,0.000,3228.000,16.174,443.798,1396.929,421.957,452.572,423.802,33.332,698.620,0.000,419.332,0.000,5.483
$DEVICE_MAMPS,207.857,79.001,662.688,578.318,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,156.284,0.000,0.000,0.000,0.000,0.000,0.000,3228.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6423,234
$CFSIZE,260034560,252559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,192459,4743.962,-12250.670,11,3.1,30,18.3