version: 66.02
glider: 106
mission: 8
dive: 167
start: 10 8 107 13 51 17
data:
$ID,106
$MISSION,8
$DIVE,167
$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,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,-51716.242
$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
$GPS1,134429,4743.199,-12250.860,14,2.9,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-62.9
$GPS2,135011,4743.190,-12250.877,10,3.2,29,18.3
$SPEED_LIMITS,0.183,0.213
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.169
$KALMAN_X,4813.5,-232.4,39.8,-2036.8,-6.5
$KALMAN_Y,8553.1,-431.5,159.2,-1416.9,-67.0
$MHEAD_RNG_PITCHd_Wd,139.2,270,-16.5,-6.667
$D_GRID,165
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.38,-90.2,0.0,0.0,0,105,0.00,0.00,-78.93,0.000,2,0.000,0.000,461,1808,3573
$GC,108,-1.41,-119.9,2.4,-5.2,13,134,15.15,2.70,-3.15,0.000,4,0.215,0.083,2786,389,3709
$GC,385,-1.42,-127.1,24.3,-5.5,49,390,0.00,2.45,-0.38,0.000,6,0.000,0.032,2785,1803,3741
$GC,580,-1.42,-127.1,34.6,-4.9,64,585,0.00,2.65,0.00,0.000,4,0.000,0.068,2786,397,3742
$GC,745,-1.42,-127.1,43.9,-6.1,76,749,0.00,2.42,0.00,0.000,6,0.000,0.031,2786,1808,3742
$GC,947,-1.42,-127.1,54.5,-4.8,92,951,0.00,2.47,0.00,0.000,4,0.000,0.048,2786,3192,3742
$GC,999,-1.42,-127.1,57.2,-5.2,95,1006,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1800,3742
$GC,1195,-1.42,-127.1,67.5,-5.0,111,1199,0.00,2.50,0.00,0.000,4,0.000,0.047,2786,3191,3742
$GC,1254,-1.42,-127.1,70.5,-5.2,115,1258,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,1793,3742
$GC,1450,-1.42,-127.1,80.9,-5.3,130,1454,0.00,2.50,0.00,0.000,4,0.000,0.046,2785,3190,3742
$GC,1501,-1.42,-127.1,83.6,-5.3,133,1508,0.00,2.47,0.00,0.000,6,0.000,0.034,2786,1796,3742
$STATE,1632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1632,begin apogee
$GC,1638,-0.38,0.0,90.0,4.6,144,1743,1.12,0.00,100.53,0.663,6,0.096,0.000,3013,1721,3218
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1747,1.42,127.1,91.1,0.0,153,1849,1.80,0.00,97.62,0.634,6,0.055,0.000,3410,1721,2699
$GC,2032,1.42,127.1,65.9,10.6,176,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1721,2697
$GC,2223,1.42,127.1,46.3,10.5,191,2227,0.00,2.55,0.00,0.000,4,0.000,0.048,3410,3126,2696
$GC,2260,1.42,127.1,42.2,10.0,193,2268,0.00,2.50,0.00,0.000,6,0.000,0.036,3410,1739,2696
$GC,2457,1.42,127.1,22.2,10.9,209,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1739,2696
$GC,2654,1.42,127.1,5.6,8.2,237,2661,0.00,2.70,0.00,0.000,4,0.000,0.080,3411,330,2696
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,-0.4,1.000726
$STATE,2738,end surface coast,CONTROL_FINISHED_OK
$STATE,2738,begin surface
$SM_CCo,2766,94.82,0.576,0,0,1790,350.04
$SM_GC,0.43,0.00,0.00,94.82,0.000,0.000,0.576,461,1808,1790,-12.14,0.23,350.04
$IRIDIUM_FIX,4726.11,-12248.15,081007,161614
$TT8_MAMPS,0.069797
$HUMID,2122
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.6
$24V_AH,23.9,14.454
$10V_AH,10.1,12.229
$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,31.475,35.575,198.150,94.825,0.000,40.679,31.277,133.125,0.500,0.000,3338.000,30.795,474.986,1544.504,389.637,488.726,333.502,33.338,664.366,0.000,446.943,0.000,5.484
$DEVICE_MAMPS,214.760,82.836,662.688,576.017,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.911,0.000,0.000,0.000,0.000,0.000,0.000,3338.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,250
$CFSIZE,260034560,251817984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,144008,4742.952,-12250.748,35,1.2,35,18.3