version: 66.02
glider: 106
mission: 9
dive: 10
start: 11 15 107 5 57 40
data:
$ID,106
$MISSION,9
$DIVE,10
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$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,-54819.121
$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,20
$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,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
$GPS1,055015,3246.262,-11749.205,15,1.8,16,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-60.6
$GPS2,055633,3246.245,-11749.203,10,1.6,10,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,-0.367
$KALMAN_X,2271.2,547.0,246.5,-5657.0,-303.7
$KALMAN_Y,2661.1,394.4,25.1,-2534.9,180.7
$MHEAD_RNG_PITCHd_Wd,139.2,455,-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,-88.78,0.000,2,0.000,0.000,462,2146,3412
$GC,125,-1.11,-170.4,2.4,-6.6,15,156,15.27,2.50,-10.00,0.000,4,0.208,0.069,2854,3515,3915
$GC,362,-1.11,-170.4,25.0,-7.8,47,366,0.00,2.42,0.00,0.000,6,0.000,0.031,2853,2101,3917
$GC,558,-1.11,-170.4,39.8,-7.3,62,562,0.00,2.47,0.00,0.000,4,0.000,0.054,2854,730,3918
$GC,609,-1.11,-170.4,43.7,-7.3,65,616,0.00,2.40,0.00,0.000,6,0.000,0.029,2854,2114,3918
$GC,806,-1.14,-170.4,56.3,-5.8,81,810,0.00,2.55,0.00,0.000,4,0.000,0.055,2854,3528,3920
$GC,853,-1.17,-170.4,59.0,-5.8,84,857,0.00,2.42,0.00,0.000,6,0.000,0.030,2854,2107,3920
$GC,1049,-1.20,-170.4,68.5,-4.7,99,1053,0.00,2.50,0.00,0.000,4,0.000,0.056,2853,727,3921
$GC,1095,-1.23,-170.4,71.0,-5.2,102,1099,0.00,2.40,0.00,0.000,6,0.000,0.031,2854,2122,3922
$GC,1292,-1.27,-170.4,82.7,-6.3,117,1296,0.15,2.53,0.00,0.000,4,0.044,0.056,2798,3520,3922
$GC,1357,-1.24,-170.4,87.9,-7.9,121,1364,0.15,2.40,0.00,0.000,6,0.097,0.033,2827,2123,3922
$GC,1553,-1.24,-170.4,99.9,-5.7,137,1557,0.00,2.55,0.00,0.000,4,0.000,0.059,2827,725,3922
$GC,1586,-1.24,-170.4,101.9,-6.2,139,1590,0.00,2.42,0.00,0.000,6,0.000,0.033,2827,2127,3922
$GC,1788,-1.24,-170.4,113.2,-5.5,155,1792,0.00,2.53,0.00,0.000,4,0.000,0.059,2827,3520,3922
$GC,1826,-1.24,-170.4,115.4,-5.9,157,1833,0.00,2.40,0.00,0.000,6,0.000,0.033,2827,2127,3922
$GC,2023,-1.24,-170.4,126.8,-5.6,173,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2127,3922
$GC,2216,-1.24,-170.4,136.9,-5.1,188,2220,0.00,2.55,0.00,0.000,4,0.000,0.061,2827,732,3923
$GC,2256,-1.27,-170.4,139.2,-5.9,190,2263,0.00,2.42,0.00,0.000,6,0.000,0.034,2827,2135,3922
$GC,2453,-1.29,-170.4,149.0,-4.7,206,2457,0.00,2.53,0.00,0.000,4,0.000,0.061,2827,3521,3923
$GC,2491,-1.31,-170.4,151.0,-5.2,208,2498,0.00,2.40,0.00,0.000,6,0.000,0.035,2828,2129,3923
$GC,2688,-1.33,-170.4,160.6,-5.3,224,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2129,3922
$GC,2881,-1.36,-170.4,170.6,-5.1,239,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2129,3922
$GC,3068,-1.38,-170.4,180.2,-5.2,254,3073,0.12,2.55,0.00,0.000,4,0.048,0.059,2788,3522,3922
$GC,3107,-1.38,-170.4,183.0,-6.7,256,3113,0.00,2.40,0.00,0.000,6,0.000,0.035,2788,2130,3921
$GC,3303,-1.38,-170.4,195.9,-6.7,272,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2131,3919
$STATE,3376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3376,begin apogee
$GC,3383,-0.38,0.0,200.6,6.2,278,3524,1.10,0.00,135.77,0.780,6,0.097,0.000,3010,1743,3218
$STATE,3527,end apogee,CONTROL_FINISHED_OK
$STATE,3527,begin climb
$GC,3529,1.11,170.4,204.6,0.0,290,3669,1.50,2.67,131.82,0.743,4,0.059,0.081,3341,337,2522
$GC,3689,1.33,343.3,196.4,7.8,303,3837,0.22,2.50,134.88,0.725,6,0.056,0.037,3392,1750,1817
$GC,4024,1.38,386.1,162.6,10.3,330,4060,0.00,0.00,33.17,0.726,6,0.000,0.000,3391,1751,1644
$GC,4250,1.39,392.4,138.8,11.0,348,4262,0.00,2.55,4.32,0.780,4,0.000,0.054,3391,3114,1618
$GC,4275,1.39,392.4,135.9,11.5,350,4280,0.00,2.47,0.00,0.000,6,0.000,0.040,3391,1741,1618
$GC,4471,1.39,392.4,115.0,11.2,365,4475,0.00,2.70,0.00,0.000,4,0.000,0.079,3391,331,1617
$GC,4517,1.39,392.4,109.4,12.2,368,4521,0.00,2.47,0.00,0.000,6,0.000,0.037,3391,1732,1617
$GC,4712,1.41,392.4,86.7,11.5,383,4717,0.00,2.70,0.00,0.000,4,0.000,0.075,3391,324,1616
$GC,4764,1.41,392.4,80.5,12.0,386,4771,0.00,2.50,0.00,0.000,6,0.000,0.036,3391,1724,1615
$GC,4961,1.45,404.6,59.4,10.9,402,4977,0.10,2.75,9.23,0.749,4,0.061,0.075,3417,327,1567
$GC,5025,1.45,404.6,51.7,12.2,407,5029,0.00,2.45,0.00,0.000,6,0.000,0.035,3417,1718,1566
$GC,5220,1.50,452.3,31.7,10.2,422,5268,0.00,2.78,38.22,0.686,4,0.000,0.074,3417,325,1373
$GC,5300,1.50,452.3,23.0,11.6,428,5307,0.00,2.45,0.00,0.000,6,0.000,0.034,3417,1709,1371
$STATE,5495,end climb,SURFACE_DEPTH_REACHED
$STATE,5495,begin surface coast
$FINISH,-0.2,1.024254
$STATE,5519,end surface coast,CONTROL_FINISHED_OK
$STATE,5519,begin surface
$SM_CCo,5605,0.00,0.000,0,0,1364,455.03
$SM_GC,0.34,13.35,0.00,0.00,0.048,0.000,0.000,462,2118,1364,-12.10,-0.20,455.03
$IRIDIUM_FIX,3233.95,-11748.38,151107,080853
$TT8_MAMPS,0.070564
$HUMID,1927
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,50.7
$24V_AH,23.6,25.041
$10V_AH,10.1,19.223
$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,31.975,81.775,487.425,0.000,0.000,38.723,36.383,171.318,0.500,0.000,6102.000,10.273,849.572,3269.989,575.452,848.107,460.002,33.327,1098.881,0.000,814.842,0.000,5.482
$DEVICE_MAMPS,207.857,80.535,780.039,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,307.559,0.000,0.000,0.000,0.000,0.000,0.000,6102.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,12730,459
$CFSIZE,260034560,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,073208,3246.010,-11748.755,29,1.1,30,13.1