version: 66.02
glider: 106
mission: 9
dive: 17
start: 11 15 107 17 3 47
data:
$ID,106
$MISSION,9
$DIVE,17
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,30
$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,-54943.059
$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
$PITCH_ADJ_DBAND,0
$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,25
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,165644,3246.817,-11748.970,11,1.6,28,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-60.1
$GPS2,170239,3246.836,-11748.980,15,1.7,15,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,default
$TGT_LATLONG,32.750,-117.480
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.060,-0.420
$KALMAN_X,3865.3,-55.3,222.8,-6279.4,-50.5
$KALMAN_Y,6522.4,513.4,97.7,-5488.5,-2.3
$MHEAD_RNG_PITCHd_Wd,175.1,1583,-11.4,-11.111
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.08,-170.4,0.0,0.0,0,121,0.00,0.00,-90.43,0.000,2,0.000,0.000,464,2135,3298
$GC,127,-1.08,-170.4,2.1,-5.9,15,164,15.02,2.60,-14.05,0.000,4,0.200,0.067,2861,720,3915
$GC,415,-1.08,-170.4,25.8,-7.6,54,420,0.00,2.42,0.00,0.000,6,0.000,0.030,2861,2124,3917
$GC,611,-1.08,-170.4,38.5,-6.6,69,615,0.00,2.55,0.00,0.000,4,0.000,0.053,2860,719,3918
$GC,670,-1.08,-170.4,42.6,-6.3,73,675,0.00,2.42,0.00,0.000,6,0.000,0.029,2860,2127,3918
$GC,866,-1.08,-170.4,55.1,-6.3,88,870,0.00,2.50,0.00,0.000,4,0.000,0.055,2860,3522,3918
$GC,899,-1.08,-170.4,57.3,-6.7,90,903,0.00,2.42,0.00,0.000,6,0.000,0.030,2861,2104,3918
$GC,1095,-1.08,-170.4,69.0,-5.7,105,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2103,3919
$GC,1286,-1.08,-170.4,78.8,-4.9,120,1290,0.00,2.50,0.00,0.000,4,0.000,0.058,2861,728,3920
$GC,1311,-1.08,-170.4,80.1,-4.6,121,1318,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,2126,3920
$GC,1508,-1.08,-170.4,89.6,-5.3,137,1512,0.00,2.55,0.00,0.000,4,0.000,0.058,2861,3528,3921
$GC,1546,-1.08,-170.4,91.9,-6.1,139,1553,0.00,2.42,0.00,0.000,6,0.000,0.031,2860,2117,3921
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1696,-0.38,0.0,100.1,5.7,151,1837,0.75,0.00,134.55,0.672,6,0.083,0.000,3016,1749,3218
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1842,1.08,170.4,105.3,0.0,163,1982,1.45,2.75,129.77,0.644,4,0.061,0.074,3334,330,2523
$GC,1994,1.38,410.2,99.3,6.8,175,2188,0.30,2.50,185.77,0.624,6,0.048,0.033,3403,1754,1544
$GC,2385,1.38,410.2,59.5,11.9,207,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1754,1539
$GC,2576,1.49,498.8,39.8,9.5,222,2652,0.00,2.75,69.65,0.615,4,0.000,0.073,3403,337,1183
$GC,2699,1.52,520.9,27.7,10.7,231,2722,0.12,2.45,16.83,0.621,6,0.054,0.034,3438,1735,1093
$GC,2922,1.52,520.9,2.2,11.2,260,2928,0.00,2.65,0.00,0.000,4,0.000,0.070,3438,337,1088
$STATE,2933,end climb,SURFACE_DEPTH_REACHED
$STATE,2933,begin surface coast
$FINISH,-0.3,1.000245
$STATE,2947,end surface coast,CONTROL_FINISHED_OK
$STATE,2947,begin surface
$SM_CCo,3038,0.00,0.000,0,0,1083,523.72
$SM_GC,0.51,13.32,0.00,0.00,0.042,0.000,0.000,461,2123,1083,-12.10,-0.06,523.72
$IRIDIUM_FIX,3236.51,-11748.38,151107,191921
$TT8_MAMPS,0.073632
$HUMID,1860
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.0
$24V_AH,23.8,25.959
$10V_AH,10.1,19.976
$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,30.975,41.800,536.575,0.000,0.000,32.776,33.404,159.965,0.500,0.000,3519.000,15.317,464.804,1493.230,570.023,517.886,372.911,33.329,919.345,0.000,485.603,0.000,5.483
$DEVICE_MAMPS,200.187,73.632,671.892,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.477,0.000,0.000,0.000,0.000,0.000,0.000,3519.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6446,264
$CFSIZE,260034560,256397312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,175537,3246.792,-11748.960,40,1.2,40,13.1