version: 66.02
glider: 106
mission: 8
dive: 143
start: 10 7 107 20 35 41
data:
$ID,106
$MISSION,8
$DIVE,143
$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,-51188.223
$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,20
$R_STBD_OVSHOOT,41
$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
$GPS1,202439,4743.811,-12250.690,11,1.7,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-58.0
$GPS2,203433,4743.846,-12250.695,11,1.6,11,18.3
$SPEED_LIMITS,0.148,0.247
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,-0.245
$KALMAN_X,5886.4,-93.2,46.6,-3029.6,14.0
$KALMAN_Y,10762.6,544.1,302.0,-3534.4,-28.7
$MHEAD_RNG_PITCHd_Wd,169.5,1483,-15.9,-8.571
$D_GRID,170
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.40,-146.6,0.0,0.0,0,113,0.00,0.00,-84.95,0.000,2,0.000,0.000,461,1811,3686
$GC,115,-1.40,-146.6,2.5,-5.5,14,141,14.90,2.53,-2.97,0.000,4,0.209,0.060,2786,3198,3818
$GC,166,-1.40,-146.6,10.1,-9.1,22,173,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1798,3820
$GC,239,-1.40,-146.6,15.4,-7.7,33,245,0.00,2.65,0.00,0.000,4,0.000,0.072,2787,394,3820
$GC,318,-1.40,-146.6,21.2,-7.1,44,322,0.00,2.42,0.00,0.000,6,0.000,0.032,2787,1798,3820
$GC,513,-1.40,-146.6,33.7,-6.0,59,517,0.00,2.50,0.00,0.000,4,0.000,0.048,2787,3194,3820
$GC,653,-1.40,-146.6,41.4,-5.7,69,657,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1793,3820
$GC,848,-1.40,-146.6,52.7,-5.7,84,852,0.00,2.53,0.00,0.000,4,0.000,0.047,2787,3194,3820
$GC,881,-1.40,-146.6,54.6,-6.1,86,885,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,1789,3820
$GC,1076,-1.40,-146.6,66.2,-5.9,101,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1789,3820
$GC,1268,-1.40,-146.6,77.4,-6.0,116,1273,0.00,2.53,0.00,0.000,4,0.000,0.047,2787,3194,3820
$GC,1387,-1.40,-146.6,84.8,-6.3,124,1393,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,1798,3820
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1485,-0.38,0.0,90.6,6.1,132,1605,1.12,0.00,115.72,0.663,6,0.094,0.000,3015,1722,3218
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1610,1.40,146.6,92.4,0.0,142,1731,1.73,2.70,113.32,0.631,4,0.056,0.077,3407,337,2619
$GC,1763,1.40,146.6,80.7,11.1,154,1771,0.00,2.47,0.00,0.000,6,0.000,0.031,3408,1728,2618
$GC,1960,1.40,146.6,60.6,9.9,170,1964,0.00,2.53,0.00,0.000,4,0.000,0.049,3407,3136,2618
$GC,1999,1.40,146.6,56.5,10.7,173,2003,0.00,2.50,0.00,0.000,6,0.000,0.037,3407,1736,2617
$GC,2194,1.40,146.6,36.3,10.4,188,2199,0.00,2.70,0.00,0.000,4,0.000,0.080,3407,326,2617
$GC,2253,1.40,146.6,29.6,11.8,192,2257,0.00,2.47,0.00,0.000,6,0.000,0.032,3407,1742,2617
$GC,2454,1.40,146.6,11.2,8.9,215,2460,0.00,2.70,0.00,0.000,4,0.000,0.074,3409,332,2617
$STATE,2517,end climb,SURFACE_DEPTH_REACHED
$STATE,2517,begin surface coast
$FINISH,3.2,1.022278
$STATE,2538,end surface coast,CONTROL_FINISHED_OK
$STATE,2538,begin surface
$SM_CCo,2566,88.55,0.578,0,0,1789,350.04
$SM_GC,0.26,0.00,0.00,88.55,0.000,0.000,0.578,462,1817,1789,-12.13,0.48,350.04
$IRIDIUM_FIX,4729.30,-12252.58,081007,000047
$TT8_MAMPS,0.06903
$HUMID,2126
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.3
$24V_AH,23.9,12.622
$10V_AH,10.1,10.870
$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,31.625,45.850,229.050,88.550,0.000,81.583,117.986,207.536,0.500,0.000,3357.000,11.503,440.388,1432.082,428.978,434.461,542.753,33.356,691.111,0.000,407.674,0.000,7.088
$DEVICE_MAMPS,208.624,79.768,663.455,577.551,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,152.418,0.000,0.000,0.000,0.000,0.000,0.000,3357.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6435,228
$CFSIZE,260034560,252485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,212039,4743.627,-12250.752,8,1.9,8,18.3