version: 66.02
glider: 106
mission: 9
dive: 3
start: 11 14 107 20 12 26
data:
$ID,106
$MISSION,9
$DIVE,3
$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,450
$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,-54568.613
$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,17
$R_STBD_OVSHOOT,43
$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
$GPS1,200532,3246.341,-11747.767,11,1.3,11,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-60.9
$GPS2,201121,3246.362,-11747.761,14,1.2,14,13.1
$SPEED_LIMITS,0.355,0.365
$TGT_NAME,H1
$TGT_LATLONG,3246.000,-11748.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.155,-0.331
$KALMAN_X,135.2,79.1,73.0,-634.1,44.3
$KALMAN_Y,530.6,335.6,312.7,-411.8,189.4
$MHEAD_RNG_PITCHd_Wd,192.0,768,-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,-146.1,0.0,0.0,0,119,0.00,0.00,-88.60,0.000,2,0.000,0.000,461,1822,3325
$GC,124,-1.03,-146.1,2.2,-5.8,15,160,15.32,2.72,-11.40,0.000,4,0.207,0.076,2874,389,3815
$GC,374,-1.03,-146.1,19.9,-6.0,53,380,0.00,2.42,0.00,0.000,6,0.000,0.032,2874,1802,3817
$GC,444,-1.03,-146.1,23.9,-5.4,59,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1803,3817
$GC,634,-1.03,-146.1,34.5,-5.3,74,639,0.00,2.45,0.00,0.000,4,0.000,0.048,2874,3189,3818
$GC,781,-1.05,-146.1,43.0,-5.7,84,787,0.00,2.45,0.00,0.000,6,0.000,0.035,2874,1782,3817
$GC,977,-1.07,-146.1,52.4,-4.1,100,981,0.00,2.50,0.00,0.000,4,0.000,0.047,2874,3189,3818
$GC,1120,-1.10,-146.1,58.8,-5.5,110,1124,0.00,2.40,0.00,0.000,6,0.000,0.036,2874,1810,3819
$GC,1316,-1.18,-146.1,73.1,-7.5,125,1321,0.15,2.47,0.00,0.000,4,0.048,0.047,2826,3189,3819
$GC,1401,-1.18,-146.1,79.5,-7.5,131,1405,0.00,2.38,0.00,0.000,6,0.000,0.035,2826,1835,3819
$GC,1597,-1.20,-146.1,92.7,-6.4,146,1602,0.00,2.45,0.00,0.000,4,0.000,0.049,2826,3195,3819
$GC,1657,-1.20,-146.1,96.2,-6.1,150,1661,0.00,2.33,0.00,0.000,6,0.000,0.036,2826,1866,3820
$STATE,1723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1724,begin apogee
$GC,1730,-0.38,0.0,100.5,6.4,155,1848,0.90,0.00,114.72,0.690,6,0.084,0.000,3012,1727,3218
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1854,1.03,146.1,105.2,0.0,165,1978,1.40,2.72,110.62,0.660,4,0.061,0.075,3319,337,2622
$GC,1991,1.29,356.6,100.5,5.5,176,2161,0.28,2.45,160.32,0.641,6,0.051,0.036,3383,1736,1764
$GC,2349,1.29,356.6,68.7,9.5,205,2354,0.00,2.53,0.00,0.000,4,0.000,0.054,3383,3121,1759
$GC,2401,1.29,356.6,63.6,10.0,208,2408,0.00,2.50,0.00,0.000,6,0.000,0.040,3383,1740,1759
$GC,2598,1.36,395.7,45.2,8.8,224,2633,0.00,0.00,30.42,0.655,6,0.000,0.000,3383,1740,1604
$GC,2823,1.46,438.0,25.4,8.7,242,2859,0.15,0.00,32.53,0.646,6,0.051,0.000,3423,1740,1432
$FREEZE,19.10,16.606,-1.851
$FREEZE,18.40,16.635,-1.850
$FREEZE,17.62,16.670,-1.850
$FREEZE,16.99,16.707,-1.850
$FREEZE,16.21,16.725,-1.849
$FREEZE,15.62,16.811,-1.849
$FREEZE,14.90,16.806,-1.849
$FREEZE,14.21,16.909,-1.848
$FREEZE,13.50,16.978,-1.848
$FREEZE,12.87,17.021,-1.848
$FREEZE,12.16,17.057,-1.847
$FREEZE,11.41,17.062,-1.846
$FREEZE,10.65,17.065,-1.846
$FREEZE,10.09,17.074,-1.845
$FREEZE,9.42,17.080,-1.845
$FREEZE,8.63,17.171,-1.845
$FREEZE,8.04,17.239,-1.844
$FREEZE,7.34,17.301,-1.843
$FREEZE,6.68,17.313,-1.844
$FREEZE,5.93,17.336,-1.843
$FREEZE,5.34,17.343,-1.842
$FREEZE,4.68,17.355,-1.842
$FREEZE,4.05,17.374,-1.841
$FREEZE,3.25,17.398,-1.841
$FREEZE,2.63,17.449,-1.840
$FREEZE,1.91,17.481,-1.839
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FREEZE,1.25,17.514,-1.839
$FREEZE,0.52,17.635,-1.838
$FREEZE,-0.10,17.916,-0.925
$FINISH,-0.1,1.011638
$STATE,3068,end surface coast,CONTROL_FINISHED_OK
$STATE,3068,begin surface
$SM_CCo,3097,3.78,0.699,0,0,1382,450.13
$SM_GC,0.66,0.00,0.00,3.78,0.000,0.000,0.699,464,1809,1382,-12.13,0.25,450.13
$IRIDIUM_FIX,3233.95,-11748.38,141107,232351
$TT8_MAMPS,0.070564
$HUMID,1862
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,50.9
$24V_AH,23.2,24.040
$10V_AH,10.1,18.456
$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,31.750,35.125,448.625,3.775,0.000,0.000,0.000,0.000,0.500,41.500,3211.500,14.156,526.978,1525.694,506.113,527.301,101.381,31.417,851.707,0.000,513.029,0.000,7.320
$DEVICE_MAMPS,207.090,75.933,689.533,698.737,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.110,0.000,0.000,0.000,0.000,0.000,0.000,3253.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6430,275
$CFSIZE,260034560,256987136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141107,210457,3246.252,-11747.827,12,1.9,13,13.1