version: 66.02
glider: 106
mission: 9
dive: 1
start: 11 14 107 17 34 31
data:
$ID,106
$MISSION,9
$DIVE,1
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,30
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51736
$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,32.75
$TGT_DEFAULT_LON,-117.48
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54464.582
$T_RSLEEP,5
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,-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,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
$GPS1,172505,3245.917,-11747.490,14,2.2,33,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-56.0
$GPS2,173329,3245.944,-11747.540,14,2.5,33,13.1
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,H1
$TGT_LATLONG,3246.000,-11748.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.379,0.055
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,265.2,724,-11.1,-10.000
$D_GRID,45
$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,28,-1.04,-146.1,0.0,0.0,0,140,0.00,0.00,-106.75,0.000,2,0.000,0.000,458,1782,3354
$GC,143,-1.04,-146.1,2.1,-5.2,18,180,15.05,2.55,-12.00,0.000,4,0.203,0.062,2868,3175,3816
$GC,432,-1.04,-146.1,21.1,-6.6,61,436,0.00,2.35,0.00,0.000,6,0.000,0.036,2868,1821,3818
$GC,628,-1.04,-146.1,33.9,-6.2,76,632,0.00,2.40,0.00,0.000,4,0.000,0.047,2868,3179,3818
$STATE,795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,795,begin apogee
$GC,804,-0.38,0.0,45.1,6.1,88,919,0.68,0.00,109.65,0.624,6,0.093,0.000,3007,1724,3219
$STATE,920,end apogee,CONTROL_FINISHED_OK
$STATE,920,begin climb
$GC,923,1.04,146.1,49.5,0.0,98,1046,1.45,2.70,109.65,0.598,4,0.073,0.071,3319,334,2623
$FREEZE,19.44,16.831,-1.850
$FREEZE,18.64,16.929,-1.849
$FREEZE,17.88,16.922,-1.850
$FREEZE,17.30,16.985,-1.849
$FREEZE,16.61,17.062,-1.848
$FREEZE,15.95,17.099,-1.849
$FREEZE,15.27,17.163,-1.848
$GC,1298,1.39,412.5,31.5,5.0,127,1510,0.38,2.40,201.68,0.578,6,0.041,0.035,3409,1727,1535
$FREEZE,13.75,17.241,-1.848
$FREEZE,13.07,17.249,-1.847
$FREEZE,12.54,17.256,-1.847
$FREEZE,11.89,17.263,-1.847
$FREEZE,11.19,17.269,-1.846
$FREEZE,10.53,17.273,-1.846
$FREEZE,9.89,17.273,-1.845
$FREEZE,9.29,17.281,-1.845
$FREEZE,8.64,17.283,-1.844
$FREEZE,7.95,17.287,-1.843
$FREEZE,7.20,17.304,-1.842
$FREEZE,6.32,17.313,-1.841
$GC,1578,1.44,427.8,7.9,9.7,157,1599,0.00,2.72,11.25,0.584,4,0.000,0.071,3409,328,1472
$FREEZE,4.84,17.308,-1.840
$FREEZE,4.12,17.313,-1.840
$FREEZE,3.39,17.319,-1.839
$FREEZE,2.56,17.324,-1.838
$FREEZE,1.89,17.334,-1.838
$STATE,1632,end climb,SURFACE_DEPTH_REACHED
$STATE,1632,begin surface coast
$FREEZE,1.21,17.347,-1.837
$FINISH,1.2,1.024276
$STATE,1638,end surface coast,CONTROL_FINISHED_OK
$STATE,1638,begin surface
$SM_CCo,1716,75.50,0.552,0,0,772,600.00
$SM_GC,0.69,0.00,0.00,75.50,0.000,0.000,0.552,459,1805,772,-12.14,0.14,600.00
$IRIDIUM_FIX,3231.39,-11749.45,141107,212139
$TT8_MAMPS,0.06903
$HUMID,1774
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,21.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,27.4,27.9
$24V_AH,23.7,23.724
$10V_AH,10.2,18.223
$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,30.675,20.300,432.225,75.500,0.000,0.000,0.000,0.000,4.500,0.000,1881.000,34.595,300.271,556.227,560.977,372.201,108.009,29.236,817.153,0.000,341.959,0.000,2.489
$DEVICE_MAMPS,203.255,71.331,624.338,552.240,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,105.772,0.000,0.000,0.000,0.000,0.000,0.000,1881.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3298,166
$CFSIZE,260034560,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141107,180528,3246.149,-11747.531,9,4.9,28,13.1