version: 66.09
glider: 106
mission: 9
dive: 180
start: 10 6 110 9 54 49
data:
$ID,106
$MISSION,9
$DIVE,180
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52196
$NAV_MODE,1
$FERRY_MAX,45
$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,32.75
$TGT_DEFAULT_LON,-118.6667
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14102.918
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,272
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2788
$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,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.6861606
$PRESSURE_SLOPE,0.0001162509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043544411
$SEABIRD_T_H,0.00064594648
$SEABIRD_T_I,2.5694355e-05
$SEABIRD_T_J,2.7212752e-06
$SEABIRD_C_G,-9.9712534
$SEABIRD_C_H,1.1236986
$SEABIRD_C_I,-0.0012384581
$SEABIRD_C_J,0.00017801338
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,061010,094155,3247.487,-11850.935,42,1.3,43,13.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.1
$GPS2,061010,095408,3247.469,-11851.083,15,1.7,15,13.3
$SPEED_LIMITS,0.318,0.397
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.376,0.129
$KALMAN_X,-2237.5,-385.6,56.3,8367.6,-300.0
$KALMAN_Y,-658.5,-51.5,-67.7,2506.6,-161.8
$MHEAD_RNG_PITCHd_Wd,57.7,12929,-23.0,-18.333
$D_GRID,330
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.83,-243.3,0.0,0.0,0,81,0.00,0.00,-66.93,0.000,2,0.000,0.000,165,2579,3132,0,0,0,0,0,0
$GC,83,-1.83,-243.3,3.8,-10.4,6,112,12.57,2.20,-11.43,0.000,4,0.198,0.054,2162,1382,3785,0,0,0,0,0,0
$GC,233,-1.83,-243.3,41.9,-19.7,20,241,0.00,2.03,0.00,0.000,6,0.000,0.029,2162,2529,3787,0,0,0,0,0,0
$GC,425,-1.83,-243.3,81.1,-20.2,39,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2529,3788,0,0,0,0,0,0
$GC,619,-1.83,-243.3,118.7,-18.8,52,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2529,3788,0,0,0,0,0,0
$GC,923,-1.83,-243.3,175.0,-18.9,62,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2529,3788,0,0,0,0,0,0
$GC,1227,-1.83,-243.3,232.3,-18.6,72,1230,0.00,2.60,0.00,0.000,4,0.000,0.059,2162,3945,3788,0,0,0,0,0,0
$GC,1269,-1.83,-243.3,240.4,-19.6,73,1273,0.00,2.03,0.00,0.000,6,0.000,0.028,2162,2782,3788,0,0,0,0,0,0
$GC,1593,-1.83,-243.3,300.4,-18.4,84,1597,0.00,2.50,0.00,0.000,4,0.000,0.042,2162,1392,3787,0,0,0,0,0,0
$GC,1700,-1.83,-243.3,318.6,-16.4,87,1704,0.00,2.05,0.00,0.000,6,0.000,0.034,2162,2537,3787,0,0,0,0,0,0
$STATE,1780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1780,begin apogee
$GC,1784,-0.33,0.0,332.3,16.8,90,1987,1.65,0.00,195.05,0.803,6,0.116,0.000,2490,2538,2788,0,0,0,0,0,0
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1987,begin climb
$GC,1989,1.83,243.3,341.2,0.0,96,2194,2.12,2.22,196.60,0.773,4,0.051,0.047,2965,1338,1795,0,0,0,0,0,0
$GC,2251,1.83,243.3,303.9,24.2,105,2256,0.00,2.12,0.00,0.000,6,0.000,0.033,2965,2513,1792,0,0,0,0,0,0
$GC,2576,1.83,243.3,229.6,22.7,116,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2513,1790,0,0,0,0,0,0
$GC,2879,1.83,243.3,163.4,21.3,126,2883,0.00,2.58,0.00,0.000,4,0.000,0.054,2965,3900,1789,0,0,0,0,0,0
$GC,2894,1.83,243.3,160.0,21.8,126,2899,0.00,2.05,0.00,0.000,6,0.000,0.029,2965,2746,1789,0,0,0,0,0,0
$GC,3204,1.83,243.3,95.1,20.1,138,3209,0.00,2.58,0.00,0.000,4,0.000,0.048,2965,1339,1788,0,0,0,0,0,0
$GC,3327,1.83,243.3,69.5,19.8,149,3334,0.00,2.08,0.00,0.000,6,0.000,0.031,2965,2504,1787,0,0,0,0,0,0
$GC,3518,1.85,257.5,32.8,17.6,168,3534,0.00,2.60,11.82,0.588,4,0.000,0.054,2965,3903,1737,0,0,0,0,0,0
$GC,3560,1.85,259.7,25.2,18.2,171,3567,0.00,2.05,0.00,0.000,6,0.000,0.028,2965,2751,1736,0,0,0,0,0,0
$STATE,3688,end climb,SURFACE_DEPTH_REACHED
$STATE,3688,begin surface coast
$FINISH,1.3,1.024458
$STATE,3698,end surface coast,CONTROL_FINISHED_OK
$STATE,3698,begin surface
$SM_CCo,3717,37.70,0.597,0,0,1462,325.02
$SM_GC,0.98,0.00,0.00,37.70,0.000,0.000,0.597,170,2744,1462,-11.02,5.48,325.02
$IRIDIUM_FIX,3125.29,-11948.46,061010,090914
$TT8_MAMPS,0.05243
$HUMID,54.56
$INTERNAL_PRESSURE,7.16824
$TCM_TEMP,19.10
$24V_AH,23.7,33.676
$10V_AH,10.1,19.969
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.275,31.675,403.475,37.700,0.000,60.676,76.920,440.289,0.000,0.000,16.862,0.000,2711.084,445.068,1228.946,102.958,33.313,787.135,0.000,487.046,0.000,0.000,0.000
$DEVICE_MAMPS,198.135,58.905,803.250,596.700,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,125.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355120
$DATA_FILE_SIZE,6835,185
$CAP_FILE_SIZE,49280,0
$CFSIZE,260034560,248700928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,105830,3247.685,-11850.572,31,1.5,47,13.3