version: 66.02
glider: 106
mission: 9
dive: 2
start: 11 14 107 18 50 13
data:
$ID,106
$MISSION,9
$DIVE,2
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,35
$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,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,500
$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,-54528.281
$T_RSLEEP,8
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,184320,3246.332,-11747.662,11,1.2,11,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-56.3
$GPS2,184909,3246.361,-11747.676,15,1.2,15,13.1
$SPEED_LIMITS,0.355,0.365
$TGT_NAME,H1
$TGT_LATLONG,3246.000,-11748.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.327
$KALMAN_X,31.8,31.8,31.8,-309.5,56.4
$KALMAN_Y,176.4,176.4,176.4,226.0,313.3
$MHEAD_RNG_PITCHd_Wd,193.5,838,-11.0,-9.524
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.03,-146.1,0.0,0.0,0,139,0.00,0.00,-106.68,0.000,2,0.000,0.000,460,1806,3369
$GC,142,-1.03,-146.1,2.4,-6.2,18,173,15.12,2.50,-10.05,0.000,4,0.204,0.062,2872,3195,3815
$GC,424,-1.03,-146.1,23.2,-6.4,57,431,0.00,2.42,0.00,0.000,6,0.000,0.035,2872,1800,3817
$GC,621,-1.03,-146.1,34.1,-5.3,73,625,0.00,2.47,0.00,0.000,4,0.000,0.047,2872,3192,3817
$GC,748,-1.03,-146.1,42.6,-7.6,82,752,0.00,2.40,0.00,0.000,6,0.000,0.035,2872,1808,3817
$GC,944,-1.05,-146.1,55.9,-5.9,97,948,0.00,2.47,0.00,0.000,4,0.000,0.048,2872,3200,3817
$GC,1036,-1.07,-146.1,60.8,-4.9,103,1042,0.00,2.40,0.00,0.000,6,0.000,0.035,2873,1816,3816
$GC,1233,-1.13,-146.1,71.7,-5.6,119,1238,0.00,2.45,-0.22,0.000,4,0.000,0.059,2872,3194,3821
$GC,1377,-1.18,-146.1,79.9,-5.6,129,1384,0.15,2.30,0.00,0.000,6,0.052,0.035,2827,1864,3823
$GC,1574,-1.21,-146.1,92.9,-7.0,145,1578,0.00,2.38,0.00,0.000,4,0.000,0.049,2827,3197,3854
$GC,1648,-1.21,-146.1,97.8,-6.5,150,1652,0.00,2.25,0.00,0.000,6,0.000,0.036,2827,1894,3854
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1696,-0.38,0.0,100.5,6.0,153,1819,0.90,0.00,118.28,0.689,6,0.084,0.000,3014,1727,3219
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1825,1.03,146.1,105.4,0.0,163,1948,1.38,2.72,110.75,0.661,4,0.058,0.076,3320,334,2621
$GC,1962,1.20,286.5,100.4,6.8,174,2077,0.20,2.47,106.62,0.643,6,0.055,0.037,3366,1746,2049
$GC,2275,1.22,302.9,73.1,9.2,199,2293,0.00,2.53,12.35,0.667,4,0.000,0.054,3366,3121,1980
$GC,2361,1.26,336.5,65.2,8.9,205,2392,0.00,2.47,25.23,0.650,6,0.000,0.041,3365,1743,1846
$GC,2582,1.34,364.5,46.1,9.0,222,2607,0.12,0.00,22.45,0.654,6,0.059,0.000,3397,1743,1731
$GC,2796,1.41,399.3,25.9,8.9,239,2832,0.00,2.75,26.80,0.647,4,0.000,0.076,3397,332,1589
$FREEZE,19.71,16.557,-1.852
$FREEZE,19.11,16.587,-1.851
$FREEZE,18.31,16.600,-1.851
$FREEZE,17.69,16.656,-1.850
$FREEZE,16.87,16.659,-1.849
$FREEZE,16.31,16.819,-1.849
$FREEZE,15.70,16.917,-1.850
$GC,2898,1.41,399.3,15.7,10.2,250,2904,0.00,2.47,0.00,0.000,6,0.000,0.037,3397,1738,1585
$FREEZE,14.38,17.028,-1.848
$FREEZE,13.82,17.046,-1.848
$FREEZE,13.24,17.071,-1.848
$FREEZE,12.64,17.086,-1.848
$FREEZE,12.05,17.106,-1.848
$FREEZE,11.40,17.179,-1.846
$FREEZE,10.78,17.206,-1.846
$FREEZE,10.19,17.210,-1.846
$FREEZE,9.47,17.247,-1.845
$FREEZE,8.98,17.272,-1.845
$GC,2971,1.45,403.5,9.0,9.4,261,2979,0.00,2.75,2.10,0.734,4,0.000,0.072,3397,328,1573
$FREEZE,7.44,17.278,-1.844
$FREEZE,7.01,17.282,-1.844
$FREEZE,6.15,17.288,-1.843
$FREEZE,5.54,17.292,-1.843
$GC,3006,1.47,403.5,5.5,10.1,266,3013,0.10,2.47,0.00,0.000,6,0.056,0.035,3425,1740,1573
$FREEZE,4.03,17.307,-1.842
$FREEZE,3.30,17.316,-1.841
$FREEZE,2.63,17.329,-1.841
$FREEZE,1.97,17.354,-1.840
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3038,begin surface coast
$FREEZE,1.30,17.405,-1.840
$FREEZE,0.53,17.533,-1.839
$FREEZE,0.05,18.336,-0.510
$FINISH,0.1,1.005686
$STATE,3063,end surface coast,CONTROL_FINISHED_OK
$STATE,3063,begin surface
$SM_CCo,3090,41.83,0.616,0,0,1178,500.17
$SM_GC,0.52,0.00,0.00,41.83,0.000,0.000,0.616,460,1822,1178,-12.14,0.62,500.17
$IRIDIUM_FIX,3233.95,-11748.38,141107,222212
$TT8_MAMPS,0.069797
$HUMID,1853
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,50.7
$24V_AH,23.6,23.897
$10V_AH,10.1,18.351
$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,31.425,45.100,424.575,41.825,0.000,0.000,0.000,0.000,0.500,0.000,3245.000,15.147,535.040,1494.561,543.685,541.826,104.225,30.182,898.939,0.000,525.546,0.000,5.491
$DEVICE_MAMPS,204.022,75.933,734.019,615.901,0.000,103.000,160.000,223.000,420.000,0.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.211,0.000,0.000,0.000,0.000,0.000,0.000,3245.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6457,274
$CFSIZE,260034560,257007616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141107,194332,3246.254,-11747.806,13,1.3,31,13.1