version: 66.02
glider: 106
mission: 8
dive: 86
start: 10 5 107 17 8 9
data:
$ID,106
$MISSION,8
$DIVE,86
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,45
$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,20
$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,-49576.02
$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,36
$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
$GPS1,170033,4743.050,-12250.827,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-62.6
$GPS2,170703,4743.051,-12250.834,15,1.4,15,18.3
$SPEED_LIMITS,0.193,0.217
$TGT_NAME,ctd1
$TGT_LATLONG,4743.140,-12251.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.184,0.061
$KALMAN_X,3103.3,-47.7,-42.3,-376.2,24.3
$KALMAN_Y,1872.8,82.3,-47.9,4698.9,87.7
$MHEAD_RNG_PITCHd_Wd,270.0,264,-16.6,-7.037
$D_GRID,164
$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,-1.39,-97.8,0.0,0.0,0,101,0.00,0.00,-73.07,0.000,2,0.000,0.000,461,1808,3469
$GC,104,-1.43,-127.1,2.2,-5.0,12,135,14.82,2.72,-6.53,0.000,4,0.208,0.083,2783,401,3739
$GC,385,-1.43,-127.1,23.5,-5.7,50,393,0.00,2.47,0.00,0.000,6,0.000,0.033,2784,1803,3741
$GC,582,-1.43,-127.1,34.4,-5.4,66,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1804,3741
$GC,773,-1.43,-127.1,44.7,-5.2,81,777,0.00,2.50,0.00,0.000,4,0.000,0.050,2783,3199,3741
$GC,864,-1.43,-127.1,50.0,-5.6,87,874,0.00,2.50,0.00,0.000,6,0.000,0.037,2783,1796,3741
$GC,1060,-1.43,-127.1,60.8,-5.6,103,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1796,3741
$GC,1250,-1.43,-127.1,71.3,-5.6,118,1255,0.00,2.53,0.00,0.000,4,0.000,0.048,2783,3198,3741
$GC,1310,-1.43,-127.1,75.0,-5.9,122,1314,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,1793,3741
$GC,1505,-1.43,-127.1,86.1,-5.6,137,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1794,3741
$STATE,1666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1667,begin apogee
$GC,1672,-0.38,0.0,95.1,5.3,150,1778,1.12,0.00,100.18,0.672,6,0.093,0.000,3012,1731,3218
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1781,1.43,127.1,96.8,0.0,159,1892,1.80,2.75,98.00,0.640,4,0.051,0.078,3414,340,2698
$GC,1918,1.43,127.1,87.4,10.5,170,1922,0.00,2.45,0.00,0.000,6,0.000,0.034,3414,1734,2698
$GC,2120,1.43,127.1,67.1,9.9,186,2124,0.00,2.67,0.00,0.000,4,0.000,0.074,3414,335,2697
$GC,2159,1.43,127.1,62.9,11.0,189,2163,0.00,2.45,0.00,0.000,6,0.000,0.034,3414,1733,2697
$GC,2361,1.43,127.1,42.9,9.9,205,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1734,2696
$GC,2552,1.43,127.1,23.9,9.5,220,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1734,2697
$GC,2747,1.43,127.1,6.4,7.4,246,2753,0.00,2.50,0.00,0.000,4,0.000,0.051,3413,3133,2696
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2771,begin surface coast
$FINISH,3.2,1.022024
$STATE,2793,end surface coast,CONTROL_FINISHED_OK
$STATE,2793,begin surface
$SM_CCo,2823,96.47,0.580,0,0,1791,350.04
$SM_GC,0.24,0.00,0.00,96.47,0.000,0.000,0.580,461,1804,1791,-12.14,0.11,350.04
$IRIDIUM_FIX,4726.11,-12250.84,051007,202053
$TT8_MAMPS,0.073632
$HUMID,2129
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,52.1
$24V_AH,23.9,7.934
$10V_AH,10.1,6.922
$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,31.750,30.525,198.175,96.475,0.000,39.999,33.355,190.882,0.500,0.000,3421.000,15.235,474.171,1621.036,385.692,464.959,391.834,33.331,658.147,0.000,433.795,0.000,5.501
$DEVICE_MAMPS,207.857,86.671,671.892,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.909,0.000,0.000,0.000,0.000,0.000,0.000,3421.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6421,253
$CFSIZE,260034560,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,175753,4743.165,-12251.226,10,2.9,29,18.3