version: 66.02
glider: 106
mission: 9
dive: 52
start: 11 17 107 2 31 11
data:
$ID,106
$MISSION,9
$DIVE,52
$D_SURF,2
$D_FLARE,2
$D_TGT,400
$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,140
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,2400
$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,-55681.453
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,022320,3245.781,-11749.457,10,1.6,11,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-63.0
$GPS2,023021,3245.743,-11749.434,14,1.7,14,13.1
$SPEED_LIMITS,0.165,0.274
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.165,-0.008
$KALMAN_X,4839.4,244.3,157.9,-6048.2,-203.4
$KALMAN_Y,8100.0,-13.5,21.2,-9833.2,500.6
$MHEAD_RNG_PITCHd_Wd,79.8,608,-27.8,-9.524
$D_GRID,400
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-2.85,-58.6,0.0,0.0,0,104,0.00,0.00,-70.18,0.000,6,0.000,0.000,463,2104,3460
$GC,108,-2.90,-95.3,2.5,-5.5,12,132,13.20,2.62,-3.20,0.000,4,0.212,0.064,2494,3522,3610
$GC,383,-2.90,-95.3,52.3,-15.2,40,388,0.00,2.42,0.00,0.000,6,0.000,0.030,2494,2112,3613
$GC,580,-2.90,-95.3,77.8,-13.3,55,585,0.00,2.55,0.00,0.000,4,0.000,0.049,2494,3526,3615
$GC,838,-2.90,-95.3,113.5,-13.0,74,842,0.00,2.42,0.00,0.000,6,0.000,0.031,2494,2116,3616
$GC,1033,-2.90,-95.3,136.4,-11.5,89,1037,0.00,2.55,0.00,0.000,4,0.000,0.051,2495,3526,3617
$GC,1151,-2.90,-95.3,150.9,-12.4,97,1157,0.00,2.45,0.00,0.000,6,0.000,0.033,2494,2124,3617
$GC,1347,-2.90,-95.3,173.8,-12.5,113,1351,0.00,2.53,0.00,0.000,4,0.000,0.051,2494,3520,3617
$GC,1605,-2.90,-95.3,203.8,-11.1,132,1609,0.00,2.42,0.00,0.000,6,0.000,0.034,2494,2122,3617
$GC,1800,-2.90,-95.3,225.4,-10.6,147,1804,0.00,2.55,0.00,0.000,4,0.000,0.053,2494,3528,3617
$GC,1899,-2.90,-95.3,235.8,-10.8,154,1903,0.00,2.45,0.00,0.000,6,0.000,0.034,2494,2116,3617
$GC,2094,-2.90,-95.3,255.2,-10.0,169,2098,0.00,2.55,0.00,0.000,4,0.000,0.054,2494,3518,3616
$GC,2126,-2.90,-95.3,258.7,-10.8,171,2131,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2123,3616
$GC,2322,-2.90,-95.3,279.2,-10.5,186,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2123,3615
$GC,2512,-2.90,-96.0,297.1,-9.4,201,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2123,3612
$GC,2701,-2.90,-96.0,315.0,-9.6,216,2705,0.00,2.58,0.00,0.000,4,0.000,0.059,2495,3523,3610
$GC,2739,-2.90,-96.0,319.0,-10.6,218,2746,0.00,2.47,0.00,0.000,6,0.000,0.035,2494,2123,3609
$GC,2935,-2.99,-170.4,323.9,-0.0,234,2940,0.00,2.58,0.00,0.000,4,0.000,0.064,2494,729,3609
$GC,3193,-2.99,-170.4,323.7,0.1,253,3197,0.00,2.42,0.00,0.000,6,0.000,0.034,2494,2123,3607
$GC,3395,-2.99,-170.4,323.9,-0.1,269,3400,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,720,3619
$GC,3653,-2.99,-170.4,323.8,-0.3,288,3657,0.00,2.45,0.00,0.000,6,0.000,0.034,2494,2126,3618
$GC,3850,-2.99,-170.4,323.8,0.1,303,3855,0.00,2.60,0.00,0.000,4,0.000,0.063,2494,725,3618
$GC,4108,-2.99,-170.4,323.8,0.0,322,4112,0.00,2.47,0.00,0.000,6,0.000,0.033,2494,2129,3617
$GC,4304,-2.99,-170.4,323.8,0.2,337,4308,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,726,3618
$GC,4561,-2.99,-170.4,323.7,-0.0,356,4565,0.00,2.42,0.00,0.000,6,0.000,0.033,2494,2127,3616
$GC,4764,-2.99,-170.4,323.8,0.0,372,4768,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,725,3616
$GC,4902,-2.99,-170.4,323.7,0.2,382,4907,0.00,2.45,0.00,0.000,6,0.000,0.034,2495,2130,3615
$GC,5098,-2.99,-170.4,323.7,-0.0,397,5102,0.00,2.55,0.00,0.000,4,0.000,0.062,2494,3519,3614
$STATE,5234,end dive,NO_VERTICAL_VELOCITY
$STATE,5234,begin apogee
$GC,5244,-0.50,0.0,323.7,0.0,407,5328,2.60,0.00,79.25,0.882,6,0.104,0.000,3021,1737,3219
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5334,2.99,170.4,323.6,0.0,414,5480,3.38,2.67,136.18,0.835,4,0.043,0.054,3800,3127,2523
$GC,5710,2.99,170.4,251.7,23.6,443,5717,0.00,2.53,0.00,0.000,6,0.000,0.041,3800,1746,2520
$GC,5907,2.99,170.4,206.5,21.9,459,5911,0.00,2.72,0.00,0.000,4,0.000,0.077,3801,329,2520
$GC,6126,2.99,170.4,155.7,23.3,475,6131,0.00,2.47,0.00,0.000,6,0.000,0.034,3800,1733,2519
$GC,6322,2.99,170.4,112.1,21.2,490,6326,0.00,2.70,0.00,0.000,4,0.000,0.074,3800,322,2519
$GC,6579,2.99,170.4,56.6,20.3,509,6583,0.00,2.47,0.00,0.000,6,0.000,0.033,3800,1739,2518
$GC,6774,2.99,170.4,23.5,15.4,524,6779,0.00,2.70,0.00,0.000,4,0.000,0.072,3800,325,2517
$STATE,6917,end climb,SURFACE_DEPTH_REACHED
$STATE,6917,begin surface coast
$FINISH,-0.5,1.024281
$STATE,6933,end surface coast,CONTROL_FINISHED_OK
$STATE,6933,begin surface
$SM_CCo,6976,77.45,0.633,0,0,1790,350.04
$SM_GC,0.09,0.00,0.00,77.45,0.000,0.000,0.633,463,2129,1790,-12.29,0.08,350.04
$IRIDIUM_FIX,3233.95,-11748.38,171107,050500
$TT8_MAMPS,0.089739
$HUMID,1934
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.2,61.4
$24V_AH,23.6,29.825
$10V_AH,9.9,23.183
$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,34.475,87.425,215.425,77.450,0.000,41.335,24.263,179.790,0.750,49.610,7541.390,14.389,976.594,4394.255,402.116,1234.407,460.973,33.326,1033.600,0.000,1179.833,0.000,7.321
$DEVICE_MAMPS,212.459,76.700,882.050,632.775,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,371.042,0.000,0.000,0.000,0.000,0.000,6807.690,7591.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,15827,545
$CFSIZE,260034560,254951424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171107,043001,3245.516,-11749.122,39,1.2,39,13.1