version: 66.02
glider: 106
mission: 9
dive: 5
start: 11 14 107 22 27 53
data:
$ID,106
$MISSION,9
$DIVE,5
$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,175
$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,400
$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,-54620.016
$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,2025
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,31
$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
$GPS1,221838,3246.362,-11747.905,38,1.7,38,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-61.5
$GPS2,222645,3246.345,-11747.850,13,1.8,13,13.1
$SPEED_LIMITS,0.355,0.365
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.351,-0.103
$KALMAN_X,617.4,309.6,114.5,-1534.5,57.3
$KALMAN_Y,1050.1,593.2,306.8,-1212.7,10.0
$MHEAD_RNG_PITCHd_Wd,240.5,2184,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.06,-170.4,0.0,0.0,0,108,0.00,0.00,-76.85,0.000,2,0.000,0.000,462,2024,3363
$GC,111,-1.06,-170.4,2.3,-5.8,13,148,15.38,2.58,-12.68,0.000,4,0.209,0.067,2862,3425,3915
$GC,247,-1.06,-170.4,14.2,-7.6,34,254,0.00,2.42,0.00,0.000,6,0.000,0.032,2862,2011,3916
$GC,320,-1.06,-170.4,19.0,-6.4,45,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2011,3917
$GC,390,-1.06,-170.4,23.2,-6.2,52,394,0.00,2.53,0.00,0.000,4,0.000,0.058,2862,620,3917
$GC,415,-1.06,-170.4,24.7,-5.7,53,422,0.00,2.45,0.00,0.000,6,0.000,0.031,2862,2028,3917
$GC,611,-1.06,-170.4,36.2,-6.3,69,615,0.00,2.50,0.00,0.000,4,0.000,0.053,2862,3427,3918
$GC,777,-1.09,-170.4,47.2,-6.0,81,781,0.00,2.40,0.00,0.000,6,0.000,0.032,2862,2027,3919
$GC,973,-1.11,-170.4,58.0,-5.4,96,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2027,3920
$GC,1164,-1.14,-170.4,68.4,-5.3,111,1168,0.00,2.50,0.00,0.000,4,0.000,0.054,2862,3416,3920
$GC,1256,-1.16,-170.4,73.7,-5.4,117,1262,0.00,2.35,0.00,0.000,6,0.000,0.034,2862,2049,3920
$GC,1453,-1.24,-170.4,85.8,-6.4,133,1457,0.15,2.60,0.00,0.000,4,0.053,0.061,2813,626,3920
$GC,1553,-1.24,-170.4,92.2,-6.7,140,1558,0.00,2.42,0.00,0.000,6,0.000,0.033,2812,2031,3920
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1677,-0.38,0.0,100.1,6.6,149,1818,0.95,0.00,133.85,0.690,6,0.078,0.000,3013,1742,3217
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1823,1.06,170.4,106.8,0.0,161,1962,1.45,2.72,128.57,0.664,4,0.062,0.074,3330,344,2523
$GC,2091,1.23,308.4,94.5,6.9,182,2206,0.17,2.45,105.50,0.658,6,0.054,0.035,3371,1741,1959
$GC,2405,1.26,314.0,65.8,9.4,207,2417,0.00,2.60,3.17,0.726,4,0.000,0.054,3371,3127,1937
$GC,2435,1.26,314.0,62.6,9.6,209,2443,0.00,2.53,0.00,0.000,6,0.000,0.039,3371,1736,1937
$GC,2633,1.35,366.6,46.2,8.5,225,2662,0.10,0.95,24.83,0.670,4,0.062,0.035,3397,2342,1761
$STATE,2667,end climb,UNCOMMANDED_BLEED_DETECTED
$SM_CCo,2670,209.88,0.619,2,0,736,609.08
$SM_GC,0.55,13.88,0.00,0.00,0.071,0.000,0.000,462,2342,723,-12.11,17.16,611.78
$IRIDIUM_FIX,3233.95,-11744.92,151107,010148
$TT8_MAMPS,0.080535
$HUMID,1865
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.3
$24V_AH,23.6,24.336
$10V_AH,10.1,18.576
$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,32.075,36.525,395.925,209.875,0.000,41.284,33.071,264.226,0.500,0.000,0.000,13.846,443.503,1585.623,675.590,483.441,492.546,33.322,995.171,0.000,450.092,0.000,5.491
$DEVICE_MAMPS,208.624,73.632,725.582,618.969,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,150.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6465,228
$CFSIZE,260034560,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0
$EOP_CODE,UNCOMMANDED_BLEED_DETECTED
$RECOV_CODE,UNCOMMANDED_BLEED
$GPS,141107,232127,3246.425,-11747.973,12,1.8,12,13.1