version: 66.02
glider: 106
mission: 9
dive: 14
start: 11 15 107 12 44 42
data:
$ID,106
$MISSION,9
$DIVE,14
$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,-54894.586
$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,23
$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
$GPS1,123659,3246.361,-11749.235,10,3.1,30,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-60.4
$GPS2,124335,3246.345,-11749.277,10,3.1,29,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,-0.414
$KALMAN_X,3502.6,83.1,34.0,-6330.6,113.1
$KALMAN_Y,4925.1,351.9,494.0,-5037.5,-54.7
$MHEAD_RNG_PITCHd_Wd,164.1,654,-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,27,-1.11,-170.4,0.0,0.0,0,120,0.00,0.00,-90.45,0.000,2,0.000,0.000,462,2132,3447
$GC,125,-1.11,-170.4,2.5,-6.7,15,156,15.15,2.55,-9.12,0.000,4,0.205,0.067,2852,3528,3914
$GC,407,-1.11,-170.4,29.1,-7.0,49,414,0.00,2.47,0.00,0.000,6,0.000,0.031,2852,2088,3917
$GC,603,-1.11,-170.4,41.3,-6.0,65,608,0.00,2.60,0.00,0.000,4,0.000,0.053,2852,3525,3918
$GC,710,-1.14,-170.4,47.6,-5.7,72,716,0.00,2.40,0.00,0.000,6,0.000,0.031,2853,2126,3918
$GC,906,-1.17,-170.4,58.5,-5.7,88,910,0.00,2.53,0.00,0.000,4,0.000,0.057,2853,732,3919
$GC,958,-1.19,-170.4,61.4,-5.7,91,965,0.00,2.40,0.00,0.000,6,0.000,0.030,2853,2129,3919
$GC,1155,-1.23,-170.4,73.0,-6.4,107,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2129,3920
$GC,1346,-1.26,-170.4,84.9,-6.3,122,1348,0.12,0.00,0.00,0.000,6,0.048,0.000,2814,2129,3920
$GC,1533,-1.26,-170.4,97.3,-6.4,137,1537,0.00,2.53,0.00,0.000,4,0.000,0.057,2813,3523,3919
$GC,1571,-1.26,-170.4,100.0,-6.9,139,1578,0.00,2.42,0.00,0.000,6,0.000,0.033,2813,2120,3920
$GC,1769,-1.26,-170.4,111.0,-5.1,155,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2120,3918
$GC,1959,-1.26,-170.4,120.3,-4.7,170,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2120,3918
$GC,2148,-1.26,-170.4,131.2,-6.1,185,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2120,3920
$GC,2337,-1.26,-170.4,142.4,-5.8,200,2341,0.00,2.55,0.00,0.000,4,0.000,0.057,2813,3519,3920
$GC,2369,-1.26,-170.4,144.3,-6.0,202,2376,0.00,2.42,0.00,0.000,6,0.000,0.035,2813,2117,3920
$GC,2565,-1.26,-170.4,154.7,-5.3,218,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2117,3920
$GC,2757,-1.26,-170.4,164.0,-5.0,233,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2118,3920
$GC,2946,-1.26,-170.4,173.6,-5.1,248,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2117,3920
$GC,3135,-1.26,-170.4,183.7,-5.5,263,3140,0.00,2.55,0.00,0.000,4,0.000,0.058,2813,3518,3920
$GC,3182,-1.26,-170.4,186.4,-5.9,266,3186,0.00,2.42,0.00,0.000,6,0.000,0.035,2813,2118,3919
$GC,3377,-1.26,-170.4,197.3,-5.3,281,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2118,3917
$STATE,3425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3425,begin apogee
$GC,3431,-0.38,0.0,200.0,5.5,285,3572,0.98,0.00,135.77,0.772,6,0.091,0.000,3012,1743,3218
$STATE,3575,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3578,1.11,170.4,204.9,0.0,297,3720,1.50,2.80,131.90,0.739,4,0.058,0.078,3344,337,2523
$GC,3779,1.41,410.8,196.1,6.5,312,3980,0.28,2.47,189.25,0.718,6,0.051,0.035,3407,1740,1542
$GC,4168,1.41,410.8,156.2,11.6,344,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1740,1538
$GC,4359,1.41,410.8,134.6,11.5,359,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1742,1535
$GC,4549,1.41,410.8,113.2,11.4,374,4553,0.00,2.70,0.00,0.000,4,0.000,0.074,3407,334,1535
$GC,4600,1.41,410.8,106.6,11.9,377,4607,0.00,2.47,0.00,0.000,6,0.000,0.036,3407,1726,1535
$GC,4796,1.41,410.8,83.6,11.4,393,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1727,1534
$GC,4987,1.41,410.8,61.9,11.2,408,4992,0.00,2.67,0.00,0.000,4,0.000,0.074,3407,331,1534
$GC,5025,1.41,410.8,56.8,12.3,410,5032,0.00,2.47,0.00,0.000,6,0.000,0.035,3407,1727,1533
$GC,5223,1.50,462.4,36.6,10.1,426,5271,0.00,2.75,40.20,0.685,4,0.000,0.074,3407,334,1331
$GC,5344,1.53,462.4,23.1,11.4,435,5351,0.12,2.45,0.00,0.000,6,0.056,0.035,3440,1727,1329
$STATE,5525,end climb,SURFACE_DEPTH_REACHED
$STATE,5525,begin surface coast
$FINISH,0.5,1.024283
$STATE,5542,end surface coast,CONTROL_FINISHED_OK
$STATE,5542,begin surface
$SM_CCo,5630,0.00,0.000,0,0,1319,465.58
$SM_GC,0.42,13.45,0.00,0.00,0.048,0.000,0.000,462,2123,1319,-12.10,-0.06,465.58
$IRIDIUM_FIX,3236.51,-11748.38,151107,151521
$TT8_MAMPS,0.069797
$HUMID,1931
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,50.9
$24V_AH,23.1,25.593
$10V_AH,10.1,19.710
$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,31.600,52.025,497.125,0.000,0.000,37.631,35.692,167.188,0.500,15.670,6142.330,30.276,827.684,3343.285,557.840,866.622,450.452,33.327,1065.014,0.000,809.731,0.000,5.483
$DEVICE_MAMPS,204.789,78.234,772.369,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,310.384,0.000,0.000,0.000,0.000,0.000,0.000,6158.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,12713,463
$CFSIZE,260034560,256475136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,141934,3245.963,-11749.177,8,2.5,28,13.1