version: 66.02
glider: 106
mission: 9
dive: 24
start: 11 15 107 23 57 54
data:
$ID,106
$MISSION,9
$DIVE,24
$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,30
$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,-55054.828
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,235011,3246.623,-11748.726,13,2.3,32,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-62.5
$GPS2,235702,3246.617,-11748.664,15,1.9,15,13.1
$SPEED_LIMITS,0.192,0.289
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.265,-0.116
$KALMAN_X,965.8,426.6,130.4,-1141.8,97.8
$KALMAN_Y,852.0,429.0,142.5,-1539.2,33.1
$MHEAD_RNG_PITCHd_Wd,233.3,2721,-18.4,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.05,-170.4,0.0,0.0,0,90,0.00,0.00,-60.65,0.000,2,0.000,0.000,460,2128,3234
$GC,94,-2.05,-170.4,2.2,-6.1,10,131,13.98,2.53,-16.20,0.000,4,0.200,0.064,2685,3522,3913
$GC,191,-2.05,-170.4,15.1,-13.9,25,197,0.00,2.45,0.00,0.000,6,0.000,0.031,2685,2102,3914
$GC,268,-2.05,-170.4,25.2,-12.8,34,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2101,3915
$GC,459,-2.05,-170.4,48.0,-11.6,49,463,0.00,2.67,0.00,0.000,4,0.000,0.050,2685,3525,3916
$GC,564,-2.05,-170.4,60.6,-11.6,56,570,0.00,2.42,0.00,0.000,6,0.000,0.031,2685,2117,3917
$GC,760,-2.05,-170.4,81.6,-10.5,72,764,0.00,2.55,0.00,0.000,4,0.000,0.052,2685,3523,3918
$GC,806,-2.05,-170.4,86.8,-11.1,75,810,0.00,2.42,0.00,0.000,6,0.000,0.031,2685,2117,3918
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,943,-0.50,0.0,101.2,11.0,85,1083,1.67,0.00,133.00,0.655,6,0.104,0.000,3020,1739,3218
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1088,2.05,170.4,107.3,0.0,97,1229,2.45,2.72,129.10,0.635,4,0.043,0.073,3588,331,2523
$GC,1364,2.05,170.4,79.0,15.2,118,1369,0.00,2.47,0.00,0.000,6,0.000,0.031,3588,1744,2522
$GC,1560,2.05,170.4,53.6,11.3,133,1564,0.00,2.50,0.00,0.000,4,0.000,0.051,3588,3128,2522
$GC,1611,2.05,170.4,47.3,12.4,136,1618,0.00,2.50,0.00,0.000,6,0.000,0.035,3588,1740,2521
$GC,1808,2.07,188.0,25.7,10.3,152,1822,0.00,0.00,12.65,0.649,6,0.000,0.000,3588,1741,2451
$GC,2016,2.07,188.0,3.1,11.5,179,2022,0.00,2.65,0.00,0.000,4,0.000,0.071,3588,337,2448
$STATE,2026,end climb,SURFACE_DEPTH_REACHED
$STATE,2026,begin surface coast
$FINISH,-0.2,1.024176
$STATE,2040,end surface coast,CONTROL_FINISHED_OK
$STATE,2041,begin surface
$SM_CCo,2073,68.30,0.590,0,0,1790,350.04
$SM_GC,0.68,0.00,0.00,68.30,0.000,0.000,0.590,461,2129,1790,-12.31,0.11,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,020232
$TT8_MAMPS,0.071331
$HUMID,1865
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,51.2
$24V_AH,23.7,27.085
$10V_AH,10.1,20.493
$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,32.125,31.775,274.750,68.300,0.000,37.741,31.274,205.752,0.500,74.720,2536.280,15.036,348.532,1022.422,413.156,374.060,406.616,33.322,651.056,0.000,345.160,0.000,5.488
$DEVICE_MAMPS,200.187,72.865,655.018,589.823,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.475,0.000,0.000,0.000,0.000,0.000,0.000,2611.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,3316,183
$CFSIZE,260034560,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,003426,3246.586,-11748.841,10,1.5,15,13.1