version: 66.02
glider: 106
mission: 9
dive: 28
start: 11 16 107 3 28 7
data:
$ID,106
$MISSION,9
$DIVE,28
$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,-55128.109
$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,23
$R_STBD_OVSHOOT,30
$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,3
$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
$GPS1,025807,3246.447,-11749.215,14,1.0,30,13.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.1
$GPS2,032715,3246.389,-11749.119,12,1.4,12,13.1
$SPEED_LIMITS,0.192,0.289
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.277,-0.082
$KALMAN_X,1797.2,577.6,235.9,-2938.7,26.1
$KALMAN_Y,1174.0,438.5,68.0,-2217.1,-45.9
$MHEAD_RNG_PITCHd_Wd,240.5,1903,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-2.05,-170.4,0.0,0.0,0,94,0.00,0.00,-60.25,0.000,2,0.000,0.000,461,2131,3220
$GC,97,-2.05,-170.4,2.1,-5.9,10,134,13.93,2.60,-15.57,0.000,4,0.199,0.064,2682,712,3913
$GC,268,-2.05,-170.4,25.5,-13.3,33,272,0.00,2.47,0.00,0.000,6,0.000,0.028,2682,2133,3935
$GC,463,-2.05,-170.4,49.0,-11.1,48,468,0.00,2.53,0.00,0.000,4,0.000,0.052,2682,3528,3936
$GC,541,-2.05,-170.4,58.0,-11.7,53,548,0.00,2.47,0.00,0.000,6,0.000,0.029,2682,2108,3936
$GC,738,-2.05,-170.4,79.7,-11.5,69,742,0.00,2.60,0.00,0.000,4,0.000,0.052,2682,3523,3940
$GC,783,-2.05,-170.4,85.0,-11.4,72,788,0.00,2.42,0.00,0.000,6,0.000,0.030,2682,2117,3941
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,926,begin apogee
$GC,933,-0.50,0.0,100.2,9.9,83,1077,1.73,0.00,139.05,0.641,6,0.101,0.000,3023,1740,3218
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1082,2.05,170.4,104.8,0.0,95,1222,2.42,2.70,129.52,0.626,4,0.041,0.072,3590,340,2522
$GC,1414,2.05,170.4,67.0,14.8,120,1420,0.00,2.45,0.00,0.000,6,0.000,0.031,3590,1744,2522
$GC,1609,2.05,170.4,42.4,11.9,136,1614,0.00,2.50,0.00,0.000,4,0.000,0.051,3590,3131,2522
$GC,1634,2.05,170.4,39.6,11.1,137,1641,0.00,2.47,0.00,0.000,6,0.000,0.035,3590,1733,2522
$GC,1831,2.05,170.4,17.8,11.1,154,1837,0.00,2.65,0.00,0.000,4,0.000,0.074,3590,335,2521
$GC,1923,2.07,183.6,7.5,10.5,168,1941,0.00,2.45,9.62,0.646,6,0.000,0.030,3590,1750,2468
$STATE,1971,end climb,SURFACE_DEPTH_REACHED
$STATE,1972,begin surface coast
$FINISH,-0.2,1.022931
$STATE,1993,end surface coast,CONTROL_FINISHED_OK
$STATE,1993,begin surface
$SM_CCo,2028,70.30,0.580,0,0,1791,350.04
$SM_GC,0.62,0.00,0.00,70.30,0.000,0.000,0.580,462,2138,1791,-12.30,0.37,350.04
$IRIDIUM_FIX,3233.95,-11746.11,161107,070737
$TT8_MAMPS,0.088205
$HUMID,1791
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.3
$24V_AH,23.9,27.510
$10V_AH,9.9,20.810
$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,32.175,31.650,278.200,70.300,0.000,193.008,302.592,772.144,0.500,58.110,3896.890,12.562,319.692,1253.909,417.532,393.538,1459.160,33.330,655.268,0.000,344.644,0.000,5.492
$DEVICE_MAMPS,198.653,73.632,645.814,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.426,0.000,0.000,0.000,0.000,0.000,3594.490,3955.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,3302,179
$CFSIZE,260034560,256008192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,040351,3246.414,-11749.329,10,1.3,10,13.1