version: 66.02
glider: 106
mission: 9
dive: 9
start: 11 15 107 4 18 27
data:
$ID,106
$MISSION,9
$DIVE,9
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,60
$T_MISSION,120
$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,-54808.219
$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,2125
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,33
$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,50
$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
$GPS1,041037,3246.562,-11748.720,41,1.1,42,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-60.8
$GPS2,041720,3246.540,-11748.711,14,1.3,31,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,-0.356
$KALMAN_X,2094.6,644.1,349.9,-4912.0,-128.8
$KALMAN_Y,2027.7,460.8,-32.1,-1363.4,46.5
$MHEAD_RNG_PITCHd_Wd,197.7,1248,-11.8,-11.111
$D_GRID,200
$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,23,begin dive
$GC,28,-1.11,-170.4,0.0,0.0,0,120,0.00,0.00,-88.68,0.000,2,0.000,0.000,460,2147,3288
$GC,125,-1.11,-170.4,2.0,-5.9,15,162,15.25,2.65,-14.02,0.000,4,0.207,0.066,2853,703,3917
$GC,197,-1.11,-170.4,10.0,-8.0,26,203,0.00,2.47,0.00,0.000,6,0.000,0.031,2853,2131,3918
$GC,270,-1.11,-170.4,15.2,-6.8,37,276,0.00,2.53,0.00,0.000,4,0.000,0.057,2853,3522,3918
$GC,316,-1.11,-170.4,18.7,-8.0,44,322,0.00,2.45,0.00,0.000,6,0.000,0.031,2853,2100,3918
$GC,386,-1.11,-170.4,23.9,-7.4,51,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2100,3919
$GC,578,-1.11,-170.4,37.4,-6.8,66,583,0.00,2.58,0.00,0.000,4,0.000,0.054,2853,3521,3919
$GC,670,-1.13,-170.4,43.4,-5.8,72,677,0.00,2.38,0.00,0.000,6,0.000,0.031,2853,2130,3920
$GC,867,-1.16,-170.4,54.1,-5.7,88,871,0.00,2.53,0.00,0.000,4,0.000,0.055,2853,3522,3921
$GC,926,-1.19,-170.4,57.8,-6.4,92,932,0.00,2.38,0.00,0.000,6,0.000,0.031,2853,2129,3922
$GC,1122,-1.21,-170.4,69.8,-6.2,108,1126,0.00,2.55,0.00,0.000,4,0.000,0.058,2853,727,3922
$GC,1182,-1.25,-170.4,73.5,-6.4,112,1187,0.12,2.45,0.00,0.000,6,0.047,0.032,2815,2146,3922
$GC,1378,-1.25,-170.4,86.7,-6.9,127,1382,0.00,2.50,0.00,0.000,4,0.000,0.058,2814,3525,3922
$GC,1403,-1.25,-170.4,88.5,-7.1,128,1410,0.00,2.40,0.00,0.000,6,0.000,0.033,2814,2146,3922
$GC,1600,-1.25,-170.4,101.3,-6.3,144,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,1791,-1.25,-170.4,112.8,-6.1,159,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,1980,-1.25,-170.4,124.2,-6.0,174,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,2171,-1.25,-170.4,134.9,-5.4,189,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,2358,-1.25,-170.4,145.2,-5.5,204,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,2547,-1.25,-170.4,156.8,-6.5,219,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2145,3922
$GC,2737,-1.25,-170.4,168.5,-6.0,234,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,2928,-1.25,-170.4,179.9,-6.0,249,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2146,3922
$GC,3115,-1.25,-170.4,190.8,-5.8,264,3119,0.00,2.53,0.00,0.000,4,0.000,0.063,2814,3518,3922
$GC,3148,-1.25,-170.4,192.8,-6.1,266,3152,0.00,2.38,0.00,0.000,6,0.000,0.036,2814,2143,3922
$STATE,3278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3278,begin apogee
$GC,3284,-0.38,0.0,200.4,5.5,276,3426,0.98,0.00,136.15,0.780,6,0.091,0.000,3013,1740,3218
$STATE,3428,end apogee,CONTROL_FINISHED_OK
$STATE,3429,begin climb
$GC,3431,1.11,170.4,205.4,0.0,288,3573,1.50,2.75,131.50,0.746,4,0.060,0.080,3344,334,2522
$GC,3591,1.38,385.0,198.1,7.0,300,3768,0.25,2.50,167.27,0.722,6,0.052,0.037,3400,1736,1648
$GC,3957,1.38,385.0,157.6,11.6,330,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1736,1643
$GC,4148,1.42,420.4,137.8,10.4,345,4185,0.00,2.78,27.52,0.730,4,0.000,0.075,3400,332,1503
$GC,4211,1.42,420.4,130.2,12.6,350,4216,0.00,2.47,0.00,0.000,6,0.000,0.038,3400,1721,1502
$GC,4407,1.42,420.4,107.4,11.9,365,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1722,1500
$GC,4600,1.47,442.8,86.5,10.7,380,4624,0.00,0.00,17.25,0.730,6,0.000,0.000,3400,1723,1412
$GC,4814,1.52,460.0,62.7,10.8,397,4833,0.12,2.70,13.05,0.727,4,0.054,0.075,3433,334,1342
$GC,4878,1.52,460.0,54.7,12.5,401,4885,0.00,2.50,0.00,0.000,6,0.000,0.036,3433,1728,1341
$GC,5074,1.52,460.0,31.7,11.6,417,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1733,1339
$FREEZE,19.50,17.404,-1.855
$FREEZE,18.87,17.429,-1.855
$FREEZE,18.09,17.433,-1.854
$FREEZE,17.44,17.439,-1.854
$FREEZE,16.69,17.443,-1.853
$FREEZE,15.96,17.448,-1.853
$FREEZE,15.22,17.450,-1.852
$FREEZE,14.44,17.453,-1.852
$FREEZE,13.76,17.456,-1.851
$FREEZE,12.95,17.463,-1.851
$FREEZE,12.20,17.470,-1.850
$FREEZE,11.53,17.476,-1.850
$FREEZE,10.75,17.479,-1.849
$GC,5269,1.53,463.5,10.8,11.0,438,5275,0.00,2.55,0.00,0.000,4,0.000,0.053,3433,3136,1337
$FREEZE,9.13,17.493,-1.848
$FREEZE,8.36,17.501,-1.847
$FREEZE,7.58,17.511,-1.847
$GC,5298,1.55,463.5,7.6,11.8,442,5304,0.00,2.53,0.00,0.000,6,0.000,0.038,3433,1716,1336
$FREEZE,5.73,17.620,-1.845
$FREEZE,5.10,17.678,-1.845
$FREEZE,4.31,17.693,-1.844
$FREEZE,3.66,17.705,-1.844
$FREEZE,2.93,17.745,-1.843
$FREEZE,2.25,17.747,-1.843
$FREEZE,1.46,17.744,-1.842
$STATE,5348,end climb,SURFACE_DEPTH_REACHED
$STATE,5348,begin surface coast
$FREEZE,0.77,17.749,-1.842
$FREEZE,0.17,17.742,-1.841
$FREEZE,-0.08,17.650,-0.207
$FINISH,-0.1,1.001546
$STATE,5369,end surface coast,CONTROL_FINISHED_OK
$STATE,5369,begin surface
$SM_CCo,5459,0.00,0.000,0,0,1330,463.13
$SM_GC,0.41,13.35,0.00,0.00,0.047,0.000,0.000,462,2145,1330,-12.10,0.57,463.13
$IRIDIUM_FIX,3233.95,-11748.38,151107,060603
$TT8_MAMPS,0.070564
$HUMID,1950
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,51.4
$24V_AH,23.6,24.914
$10V_AH,10.0,19.102
$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,31.575,57.000,492.750,0.000,0.000,37.321,33.418,175.235,0.500,0.000,6001.000,31.582,840.609,3194.275,561.943,820.839,464.484,33.324,1059.691,0.000,768.670,0.000,5.484
$DEVICE_MAMPS,207.090,79.768,780.039,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,303.211,0.000,0.000,0.000,0.000,0.000,0.000,6001.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,12731,453
$CFSIZE,260034560,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,055015,3246.262,-11749.205,15,1.8,16,13.1