version: 66.02
glider: 106
mission: 9
dive: 30
start: 11 16 107 5 2 50
data:
$ID,106
$MISSION,9
$DIVE,30
$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,30
$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,-55154.902
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,045207,3246.408,-11749.529,9,1.4,25,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-61.8
$GPS2,050156,3246.391,-11749.512,10,1.8,10,13.1
$SPEED_LIMITS,0.192,0.289
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.244,-0.155
$KALMAN_X,2131.7,578.0,210.7,-3856.4,8.0
$KALMAN_Y,1485.6,422.3,48.8,-2491.1,8.0
$MHEAD_RNG_PITCHd_Wd,224.5,1359,-18.4,-11.111
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.05,-170.4,0.0,0.0,0,91,0.00,0.00,-60.20,0.000,2,0.000,0.000,462,2141,3204
$GC,94,-2.05,-170.4,2.2,-6.2,10,132,13.85,2.60,-17.52,0.000,4,0.198,0.063,2685,717,3915
$GC,198,-2.05,-170.4,15.2,-13.8,26,204,0.00,2.42,0.00,0.000,6,0.000,0.029,2685,2113,3917
$GC,274,-2.05,-170.4,25.2,-12.8,35,279,0.00,2.55,0.00,0.000,4,0.000,0.054,2687,3526,3917
$GC,348,-2.05,-170.4,34.8,-13.7,40,353,0.00,2.42,0.00,0.000,6,0.000,0.030,2685,2114,3916
$GC,544,-2.05,-170.4,56.8,-10.5,55,548,0.00,2.55,0.00,0.000,4,0.000,0.051,2685,3525,3918
$GC,577,-2.05,-170.4,60.4,-10.9,57,581,0.00,2.40,0.00,0.000,6,0.000,0.029,2685,2123,3918
$GC,772,-2.05,-170.4,82.4,-11.3,72,776,0.00,2.53,0.00,0.000,4,0.000,0.054,2685,732,3924
$GC,791,-2.05,-170.4,84.7,-12.0,73,795,0.00,2.40,0.00,0.000,6,0.000,0.029,2685,2129,3924
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,942,-0.50,0.0,101.3,11.4,84,1083,1.65,0.00,135.52,0.648,6,0.100,0.000,3020,1740,3218
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1108,2.05,170.4,107.9,0.0,96,1248,2.45,2.70,130.32,0.629,4,0.044,0.071,3588,336,2523
$GC,1499,2.05,170.4,61.0,13.4,126,1503,0.00,2.45,0.00,0.000,6,0.000,0.032,3588,1742,2523
$GC,1702,2.05,170.9,36.6,11.1,142,1706,0.00,2.67,0.00,0.000,4,0.000,0.070,3588,335,2523
$GC,1806,2.09,199.5,25.0,9.9,149,1837,0.00,2.45,22.08,0.627,6,0.000,0.031,3588,1740,2404
$STATE,2013,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,-0.1,1.024254
$STATE,2026,end surface coast,CONTROL_FINISHED_OK
$STATE,2026,begin surface
$SM_CCo,2061,63.50,0.581,0,0,1790,350.04
$SM_GC,0.60,0.00,0.00,63.50,0.000,0.000,0.581,462,2136,1790,-12.30,0.31,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,080809
$TT8_MAMPS,0.09204
$HUMID,1828
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,50.9
$24V_AH,23.9,27.691
$10V_AH,9.9,20.971
$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,32.025,31.525,287.925,63.500,0.000,40.119,37.023,312.458,0.500,0.000,2834.000,10.941,327.962,1003.707,409.950,399.137,572.151,33.320,655.241,0.000,358.540,0.000,5.488
$DEVICE_MAMPS,197.886,71.331,648.115,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.718,0.000,0.000,0.000,0.000,0.000,2575.040,2834.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,3307,179
$CFSIZE,260034560,255913984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,053903,3246.394,-11749.728,12,1.5,12,13.1