version: 66.02
glider: 106
mission: 9
dive: 21
start: 11 15 107 21 0 35
data:
$ID,106
$MISSION,9
$DIVE,21
$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,0
$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,350
$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,-55014.488
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3050
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,205039,3246.594,-11748.164,12,1.8,12,13.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-57.6
$GPS2,205927,3246.605,-11748.176,13,1.9,13,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.393,-0.160
$KALMAN_X,191.2,105.5,72.9,767.6,15.0
$KALMAN_Y,294.3,183.0,147.9,-764.4,48.8
$MHEAD_RNG_PITCHd_Wd,234.7,3419,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.08,-170.4,0.0,0.0,0,140,0.00,0.00,-108.32,0.000,2,0.000,0.000,461,2117,3304
$GC,143,-1.08,-170.4,2.0,-5.4,18,180,14.85,2.62,-13.85,0.000,4,0.198,0.068,2808,3522,3915
$GC,432,-1.08,-170.4,31.4,-8.3,53,436,0.00,2.47,0.00,0.000,6,0.000,0.031,2808,2104,3907
$GC,627,-1.08,-170.4,46.2,-7.7,68,632,0.00,2.60,0.00,0.000,4,0.000,0.052,2808,3531,3912
$GC,688,-1.08,-170.4,50.5,-7.4,72,693,0.00,2.45,-0.12,0.000,6,0.000,0.030,2808,2118,3917
$GC,884,-1.08,-170.4,63.7,-6.8,87,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2117,3935
$GC,1075,-1.08,-170.4,76.7,-6.7,102,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2117,3934
$GC,1264,-1.08,-170.4,89.9,-6.8,117,1269,0.00,2.70,0.00,0.000,4,0.000,0.054,2808,3526,3931
$GC,1310,-1.08,-170.4,93.3,-7.4,120,1315,0.00,2.45,0.00,0.000,6,0.000,0.032,2808,2124,3931
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1422,-0.38,0.0,100.5,6.6,128,1562,0.77,0.00,134.10,0.660,6,0.088,0.000,2964,1744,3219
$STATE,1565,end apogee,CONTROL_FINISHED_OK
$STATE,1565,begin climb
$GC,1568,1.08,170.4,105.6,0.0,140,1709,1.50,2.72,130.57,0.638,4,0.068,0.073,3283,332,2523
$GC,1728,1.40,428.4,99.6,6.4,152,1934,0.32,2.50,198.80,0.620,6,0.039,0.035,3361,1751,1471
$GC,2131,1.59,577.8,63.2,8.4,185,2258,0.15,2.65,117.88,0.601,4,0.041,0.051,3414,3111,862
$GC,2310,1.59,577.8,43.8,12.0,199,2317,0.00,2.60,0.00,0.000,6,0.000,0.038,3414,1741,861
$GC,2506,1.60,589.6,21.6,10.9,215,2520,0.00,2.58,7.90,0.634,4,0.000,0.047,3414,3113,814
$GC,2573,1.61,596.6,14.4,11.0,223,2585,0.00,2.47,6.00,0.637,6,0.000,0.038,3414,1732,786
$GC,2653,1.68,656.5,6.2,10.0,235,2684,0.00,2.78,16.48,0.620,4,0.000,0.077,3414,330,736
$STATE,2695,end climb,SURFACE_DEPTH_REACHED
$STATE,2695,begin surface coast
$FINISH,-0.0,1.023945
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2801,0.00,0.000,0,0,736,608.83
$SM_GC,0.45,13.20,0.00,0.00,0.040,0.000,0.000,459,2122,736,-11.89,-0.08,608.83
$IRIDIUM_FIX,3233.95,-11750.64,151107,232350
$TT8_MAMPS,0.072098
$HUMID,1848
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,61.2
$24V_AH,23.1,26.675
$10V_AH,10.0,20.276
$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,30.800,37.500,611.725,0.000,0.000,38.576,40.371,323.766,0.750,307.160,3134.840,13.173,408.433,1267.331,636.253,503.359,540.419,32.332,997.395,0.000,470.500,0.000,7.327
$DEVICE_MAMPS,197.886,76.700,659.620,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.514,0.000,0.000,0.000,0.000,0.000,0.000,3442.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6422,244
$CFSIZE,260034560,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151107,214823,3246.664,-11748.321,15,5.1,34,13.1