version: 66.02
glider: 106
mission: 9
dive: 15
start: 11 15 107 14 27 4
data:
$ID,106
$MISSION,9
$DIVE,15
$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,-54911.133
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,141934,3245.963,-11749.177,8,2.5,28,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-59.8
$GPS2,142556,3245.960,-11749.220,10,1.1,15,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.005,0.415
$KALMAN_X,3549.0,-28.3,137.6,-6272.4,46.4
$KALMAN_Y,5625.7,423.0,366.5,-6398.6,-85.4
$MHEAD_RNG_PITCHd_Wd,346.2,87,-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,-90.43,0.000,2,0.000,0.000,462,2125,3456
$GC,125,-1.11,-170.4,2.4,-6.1,15,156,15.15,2.58,-8.90,0.000,4,0.205,0.065,2851,719,3914
$GC,242,-1.11,-170.4,16.7,-7.4,33,248,0.00,2.45,0.00,0.000,6,0.000,0.031,2851,2130,3916
$GC,320,-1.11,-170.4,22.1,-6.9,43,324,0.00,2.53,0.00,0.000,4,0.000,0.056,2851,3525,3919
$GC,438,-1.11,-170.4,30.7,-6.8,51,445,0.00,2.40,0.00,0.000,6,0.000,0.031,2851,2125,3919
$GC,635,-1.11,-170.4,44.2,-6.5,67,639,0.00,2.53,0.00,0.000,4,0.000,0.055,2851,730,3919
$GC,681,-1.14,-170.4,47.0,-6.2,70,685,0.00,2.42,0.00,0.000,6,0.000,0.029,2851,2138,3921
$GC,877,-1.16,-170.4,58.3,-5.9,85,881,0.00,2.50,0.00,0.000,4,0.000,0.055,2851,3521,3921
$GC,956,-1.19,-170.4,63.1,-5.7,90,962,0.00,2.38,0.00,0.000,6,0.000,0.031,2850,2131,3922
$GC,1152,-1.22,-170.4,73.8,-5.4,106,1157,0.00,2.53,0.00,0.000,4,0.000,0.054,2850,3518,3923
$GC,1186,-1.25,-170.4,75.8,-5.8,108,1191,0.12,2.38,0.00,0.000,6,0.053,0.032,2818,2136,3923
$GC,1382,-1.25,-170.4,87.1,-6.1,123,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2136,3924
$GC,1574,-1.25,-170.4,99.4,-6.5,138,1579,0.00,2.58,0.00,0.000,4,0.000,0.059,2817,728,3923
$GC,1614,-1.25,-170.4,102.2,-6.5,140,1620,0.00,2.45,0.00,0.000,6,0.000,0.032,2817,2145,3924
$GC,1810,-1.25,-170.4,115.0,-6.7,156,1814,0.00,2.60,0.00,0.000,4,0.000,0.057,2817,729,3923
$GC,1856,-1.25,-170.4,118.1,-6.7,159,1860,0.00,2.45,0.00,0.000,6,0.000,0.033,2817,2138,3923
$GC,2052,-1.25,-170.4,129.7,-5.8,174,2056,0.00,2.53,0.00,0.000,4,0.000,0.059,2817,3527,3921
$GC,2098,-1.25,-170.4,132.4,-6.4,177,2102,0.00,2.40,0.00,0.000,6,0.000,0.034,2817,2141,3919
$GC,2294,-1.25,-170.4,143.7,-5.9,192,2298,0.00,2.58,0.00,0.000,4,0.000,0.061,2817,732,3921
$GC,2340,-1.25,-170.4,146.5,-6.3,195,2344,0.00,2.45,0.00,0.000,6,0.000,0.033,2817,2142,3920
$GC,2536,-1.25,-170.4,158.0,-5.9,210,2540,0.00,2.53,0.00,0.000,4,0.000,0.061,2817,3525,3917
$GC,2587,-1.25,-170.4,161.5,-6.9,213,2594,0.00,2.42,0.00,0.000,6,0.000,0.035,2817,2123,3917
$GC,2784,-1.25,-170.4,173.7,-6.1,229,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2123,3919
$GC,2977,-1.25,-170.4,184.5,-5.8,244,2981,0.00,2.55,0.00,0.000,4,0.000,0.061,2817,729,3920
$GC,3017,-1.25,-170.4,187.4,-6.3,246,3023,0.00,2.45,0.00,0.000,6,0.000,0.034,2817,2141,3920
$STATE,3210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3210,begin apogee
$GC,3217,-0.38,0.0,200.1,6.9,262,3357,0.98,0.00,136.20,0.771,6,0.089,0.000,3016,1745,3218
$STATE,3360,end apogee,CONTROL_FINISHED_OK
$STATE,3360,begin climb
$GC,3363,1.11,170.4,206.3,0.0,274,3505,1.50,2.80,132.07,0.736,4,0.061,0.077,3344,336,2523
$GC,3531,1.41,414.2,200.1,6.5,287,3732,0.30,2.50,192.38,0.712,6,0.049,0.036,3413,1745,1529
$GC,3922,1.41,414.2,156.3,13.0,318,3926,0.00,2.72,0.00,0.000,4,0.000,0.074,3413,334,1523
$GC,3981,1.39,414.2,148.1,13.9,322,3985,0.00,2.47,0.00,0.000,6,0.000,0.036,3413,1729,1522
$GC,4176,1.39,414.2,123.4,12.5,337,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1728,1521
$GC,4369,1.39,414.2,100.7,11.4,352,4374,0.00,2.67,0.00,0.000,4,0.000,0.074,3413,332,1521
$GC,4434,1.39,414.2,91.8,13.4,356,4441,0.00,2.47,0.00,0.000,6,0.000,0.035,3413,1721,1520
$GC,4630,1.39,414.2,68.7,11.6,372,4635,0.00,2.65,0.00,0.000,4,0.000,0.074,3413,336,1520
$GC,4683,1.39,414.2,62.1,13.0,375,4689,0.00,2.42,0.00,0.000,6,0.000,0.035,3413,1718,1520
$GC,4879,1.39,414.3,39.4,11.1,391,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1720,1519
$GC,5070,1.45,440.8,19.9,10.6,406,5094,0.00,0.00,19.62,0.688,6,0.000,0.000,3413,1722,1420
$GC,5163,1.53,480.2,10.8,10.4,420,5199,0.00,0.00,31.42,0.657,6,0.000,0.000,3413,1723,1259
$STATE,5253,end climb,SURFACE_DEPTH_REACHED
$STATE,5253,begin surface coast
$FINISH,-0.3,1.001559
$STATE,5271,end surface coast,CONTROL_FINISHED_OK
$STATE,5271,begin surface
$SM_CCo,5360,0.00,0.000,0,0,1250,482.51
$SM_GC,0.50,13.38,0.00,0.00,0.048,0.000,0.000,460,2130,1250,-12.11,0.14,482.51
$IRIDIUM_FIX,3233.95,-11750.64,151107,161611
$TT8_MAMPS,0.069797
$HUMID,1898
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,51.2
$24V_AH,23.0,25.727
$10V_AH,10.1,19.827
$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,31.425,76.800,511.700,0.000,0.000,38.795,35.312,166.178,0.500,14.801,5855.199,15.918,806.063,3096.696,574.912,837.712,446.823,33.326,1095.107,0.000,794.821,0.000,5.484
$DEVICE_MAMPS,204.789,76.700,770.835,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,292.173,0.000,0.000,0.000,0.000,0.000,0.000,5870.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,12700,437
$CFSIZE,260034560,256425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,155709,3247.030,-11749.010,11,1.6,12,13.1