version: 66.02
glider: 106
mission: 8
dive: 202
start: 10 9 107 8 37 34
data:
$ID,106
$MISSION,8
$DIVE,202
$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,130
$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,-52408.352
$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,37
$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
$GPS1,082651,4743.119,-12251.023,11,1.4,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-62.4
$GPS2,083627,4743.098,-12251.045,13,1.6,13,18.3
$SPEED_LIMITS,0.148,0.232
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,-0.071
$KALMAN_X,3336.9,-431.9,-92.2,-437.2,24.4
$KALMAN_Y,6705.9,-580.7,-147.9,714.8,51.5
$MHEAD_RNG_PITCHd_Wd,100.3,297,-27.7,-8.571
$D_GRID,163
$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,27,-2.19,-50.1,0.0,0.0,0,106,0.00,0.00,-75.03,0.000,6,0.000,0.000,463,1812,3424
$GC,109,-2.23,-79.0,2.0,-5.3,13,134,13.82,2.67,-3.20,0.000,4,0.211,0.080,2611,405,3542
$GC,364,-2.24,-93.7,24.3,-6.9,48,372,0.00,2.45,-0.70,0.000,6,0.000,0.031,2611,1805,3605
$GC,561,-2.26,-104.9,38.1,-7.3,64,566,0.00,2.47,-0.40,0.000,4,0.000,0.059,2611,3191,3650
$GC,634,-2.26,-104.9,44.2,-9.1,69,638,0.00,2.45,0.00,0.000,6,0.000,0.035,2611,1796,3651
$GC,829,-2.26,-105.4,60.6,-8.5,84,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1795,3651
$GC,1022,-2.26,-108.7,76.1,-8.2,99,1024,0.00,0.00,-0.10,0.000,6,0.000,0.000,2611,1794,3667
$STATE,1194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1194,begin apogee
$GC,1200,-0.38,0.0,90.7,8.5,113,1292,2.05,0.00,86.72,0.661,6,0.118,0.000,3010,1730,3218
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,2.26,108.7,92.4,0.0,121,1385,2.58,0.00,83.43,0.632,6,0.049,0.000,3607,1730,2774
$GC,1569,2.26,108.7,54.3,16.2,143,1573,0.00,2.65,0.00,0.000,4,0.000,0.075,3607,338,2772
$GC,1669,2.26,108.7,37.5,16.9,150,1673,0.00,2.42,0.00,0.000,6,0.000,0.031,3607,1728,2772
$GC,1867,2.26,108.7,7.2,11.8,171,1874,0.00,2.65,0.00,0.000,4,0.000,0.072,3607,338,2772
$STATE,1884,end climb,SURFACE_DEPTH_REACHED
$STATE,1884,begin surface coast
$FINISH,-0.4,1.002114
$STATE,1933,end surface coast,CONTROL_FINISHED_OK
$STATE,1934,begin surface
$SM_CCo,1963,102.80,0.564,0,0,1791,350.04
$SM_GC,0.35,0.00,0.00,102.80,0.000,0.000,0.564,463,1812,1791,-12.13,0.34,350.04
$IRIDIUM_FIX,4726.11,-12250.84,091007,121250
$TT8_MAMPS,0.06903
$HUMID,2110
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,51.9
$24V_AH,23.9,16.928
$10V_AH,10.1,13.760
$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,32.750,20.475,170.150,102.800,0.000,79.312,66.770,237.797,0.500,0.000,2753.000,13.756,353.784,1105.294,359.564,340.481,512.493,33.318,562.450,0.000,315.583,0.000,5.484
$DEVICE_MAMPS,210.925,83.603,661.154,563.745,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.974,0.000,0.000,0.000,0.000,0.000,0.000,2753.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3309,181
$CFSIZE,260034560,250929152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,091304,4743.011,-12250.797,9,2.5,28,18.3