version: 66.02
glider: 106
mission: 9
dive: 22
start: 11 15 107 21 56 35
data:
$ID,106
$MISSION,9
$DIVE,22
$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,-55026.633
$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,32
$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
$GPS1,214823,3246.664,-11748.321,15,5.1,34,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-55.9
$GPS2,215527,3246.680,-11748.280,11,2.0,11,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.389,-0.170
$KALMAN_X,494.0,235.4,94.8,148.1,88.1
$KALMAN_Y,525.1,296.9,166.0,-989.8,56.1
$MHEAD_RNG_PITCHd_Wd,233.2,3316,-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,-170.4,0.0,0.0,0,141,0.00,0.00,-108.45,0.000,2,0.000,0.000,460,2118,3318
$GC,145,-1.08,-170.4,2.3,-5.9,18,182,14.95,2.60,-12.85,0.000,4,0.199,0.067,2807,3515,3917
$GC,268,-1.08,-170.4,16.7,-9.9,37,274,0.00,2.45,0.00,0.000,6,0.000,0.031,2808,2102,3916
$GC,347,-1.08,-170.4,23.9,-9.1,46,351,0.00,2.50,0.00,0.000,4,0.000,0.055,2807,726,3915
$GC,406,-1.08,-170.4,29.5,-9.3,50,411,0.00,2.42,0.00,0.000,6,0.000,0.030,2807,2126,3913
$GC,602,-1.08,-170.4,44.5,-7.3,65,606,0.00,2.53,0.00,0.000,4,0.000,0.054,2807,3529,3915
$GC,648,-1.08,-170.4,48.3,-8.7,68,653,0.00,2.42,0.00,0.000,6,0.000,0.030,2807,2116,3919
$GC,844,-1.08,-170.4,61.8,-6.2,83,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2116,3916
$GC,1035,-1.08,-170.4,74.5,-6.8,98,1040,0.00,2.55,0.00,0.000,4,0.000,0.054,2807,3525,3913
$GC,1068,-1.08,-170.4,76.9,-7.0,100,1072,0.00,2.42,0.00,0.000,6,0.000,0.031,2807,2116,3912
$GC,1264,-1.08,-170.4,90.0,-6.8,115,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2116,3915
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1419,-0.38,0.0,100.5,7.1,127,1555,0.75,0.00,131.62,0.661,6,0.087,0.000,2961,1750,3218
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin climb
$GC,1560,1.08,170.4,104.4,0.0,138,1700,1.50,2.75,129.77,0.637,4,0.066,0.074,3286,331,2523
$GC,1713,1.35,389.3,97.5,7.2,150,1889,0.28,2.50,168.12,0.619,6,0.042,0.034,3351,1762,1631
$GC,2078,1.48,494.7,66.0,9.2,179,2167,0.00,2.55,82.60,0.608,4,0.000,0.052,3351,3110,1201
$GC,2202,1.63,612.6,55.1,9.0,189,2317,0.22,2.47,99.38,0.595,6,0.039,0.038,3416,1731,736
$GC,2515,1.63,618.0,20.6,11.0,214,2520,0.00,2.67,0.00,0.000,4,0.000,0.075,3416,332,733
$GC,2596,1.64,622.0,11.7,11.0,225,2602,0.00,2.45,0.00,0.000,6,0.000,0.033,3416,1731,731
$GC,2669,1.66,639.1,3.6,10.8,236,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1737,730
$STATE,2687,end climb,SURFACE_DEPTH_REACHED
$STATE,2687,begin surface coast
$FINISH,-0.0,1.016689
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2795,0.00,0.000,0,0,729,610.55
$SM_GC,0.54,13.07,0.00,0.00,0.036,0.000,0.000,459,2129,729,-11.88,0.11,610.55
$IRIDIUM_FIX,3233.95,-11733.46,161107,000048
$TT8_MAMPS,0.068263
$HUMID,1860
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,51.6
$24V_AH,23.0,26.819
$10V_AH,10.1,20.349
$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,30.775,36.625,611.500,0.000,0.000,40.739,36.501,208.767,0.500,49.800,3305.200,11.517,415.928,1265.342,631.762,492.272,439.625,33.317,991.230,0.000,460.465,0.000,5.492
$DEVICE_MAMPS,199.420,75.166,661.154,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.478,0.000,0.000,0.000,0.000,0.000,0.000,3355.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6447,242
$CFSIZE,260034560,256212992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151107,224425,3246.613,-11748.577,25,1.3,42,13.1