version: 66.02
glider: 106
mission: 9
dive: 36
start: 11 16 107 11 21 17
data:
$ID,106
$MISSION,9
$DIVE,36
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,36
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51736
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,0
$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,32.75
$TGT_DEFAULT_LON,-117.48
$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,-55302.254
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$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,2125
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,71.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-9.2469263
$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,3
$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
$GPS1,111317,3246.138,-11749.523,10,2.7,29,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.1
$GPS2,112026,3246.147,-11749.537,14,1.6,25,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.228,-0.148
$KALMAN_X,3096.3,77.1,-154.2,-3994.1,33.2
$KALMAN_Y,4069.9,254.0,271.1,-5577.2,56.7
$MHEAD_RNG_PITCHd_Wd,110.0,605,-15.7,-9.259
$D_GRID,100
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.78,-170.4,0.0,0.0,0,100,0.00,0.00,-66.20,0.000,2,0.000,0.000,463,2135,3367
$GC,103,-1.78,-170.4,2.2,-5.6,11,140,14.43,2.60,-12.27,0.000,4,0.203,0.067,2743,3528,3915
$GC,219,-1.78,-170.4,16.8,-11.3,29,225,0.00,2.45,0.00,0.000,6,0.000,0.031,2743,2110,3918
$GC,289,-1.78,-170.4,24.2,-10.4,37,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2110,3918
$GC,479,-1.78,-170.4,42.0,-8.5,52,483,0.00,2.50,0.00,0.000,4,0.000,0.054,2743,728,3920
$GC,538,-1.78,-170.4,46.9,-8.7,56,543,0.00,2.42,0.00,0.000,6,0.000,0.029,2743,2133,3920
$GC,734,-1.78,-170.4,63.2,-8.3,71,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2133,3920
$GC,923,-1.78,-170.4,78.5,-8.5,86,927,0.00,2.55,0.00,0.000,4,0.000,0.054,2743,732,3921
$GC,956,-1.78,-170.4,81.2,-8.2,88,960,0.00,2.42,0.00,0.000,6,0.000,0.031,2743,2131,3921
$GC,1152,-1.78,-170.4,97.0,-8.1,103,1156,0.00,2.53,0.00,0.000,4,0.000,0.056,2743,3523,3922
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1196,-0.50,0.0,100.3,8.5,105,1335,1.38,0.00,134.95,0.653,6,0.102,0.000,3019,1742,3218
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1341,1.78,170.4,104.0,0.0,117,1481,2.22,2.72,130.05,0.630,4,0.049,0.072,3526,328,2523
$GC,1586,1.78,170.4,81.4,13.6,136,1591,0.00,2.47,0.00,0.000,6,0.000,0.031,3526,1746,2522
$GC,1782,1.78,170.4,57.8,11.6,151,1786,0.00,2.70,0.00,0.000,4,0.000,0.071,3526,328,2521
$GC,2027,1.78,170.4,30.0,9.7,169,2032,0.00,2.45,0.00,0.000,6,0.000,0.031,3526,1737,2520
$GC,2227,1.79,178.1,11.4,9.0,191,2240,0.00,2.70,5.18,0.678,4,0.000,0.071,3527,330,2490
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,-0.3,1.005868
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2387,73.07,0.590,0,0,1789,350.04
$SM_GC,0.35,0.00,0.00,73.07,0.000,0.000,0.590,460,2123,1789,-12.31,-0.06,350.04
$IRIDIUM_FIX,3231.39,-11741.46,161107,141441
$TT8_MAMPS,0.088972
$HUMID,1836
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,61.1,62.2
$24V_AH,23.8,28.302
$10V_AH,9.9,21.598
$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,31.650,36.875,270.175,73.075,0.000,39.011,33.081,179.001,0.750,6.100,2999.900,25.122,374.327,1254.467,414.603,440.263,400.125,33.341,677.090,0.000,399.138,0.000,7.331
$DEVICE_MAMPS,203.255,72.098,678.028,589.823,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.388,0.000,0.000,0.000,0.000,0.000,2719.750,3006.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6456,209
$CFSIZE,260034560,255610880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,120337,3246.055,-11749.146,38,1.8,44,13.1