version: 66.02
glider: 106
mission: 9
dive: 29
start: 11 16 107 4 15 19
data:
$ID,106
$MISSION,9
$DIVE,29
$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,-55143.332
$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,39
$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
$GPS1,040351,3246.414,-11749.329,10,1.3,10,13.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-60.7
$GPS2,041427,3246.384,-11749.292,14,1.3,14,13.1
$SPEED_LIMITS,0.192,0.289
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.266,-0.113
$KALMAN_X,1985.1,585.0,231.5,-3397.5,30.9
$KALMAN_Y,1302.3,427.0,52.2,-2328.8,-9.2
$MHEAD_RNG_PITCHd_Wd,233.9,1653,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-2.05,-170.4,0.0,0.0,0,98,0.00,0.00,-64.57,0.000,2,0.000,0.000,462,2138,3338
$GC,102,-2.05,-170.4,2.4,-6.7,11,133,13.88,2.65,-12.27,0.000,4,0.199,0.063,2683,717,3917
$GC,212,-2.05,-170.4,19.5,-13.5,28,219,0.00,2.42,0.00,0.000,6,0.000,0.029,2684,2116,3921
$GC,282,-2.05,-170.4,28.5,-13.1,34,286,0.00,2.55,0.00,0.000,4,0.000,0.054,2684,3526,3921
$GC,320,-2.05,-170.4,33.6,-12.9,36,327,0.00,2.47,0.00,0.000,6,0.000,0.029,2683,2104,3920
$GC,517,-2.05,-170.4,57.4,-11.0,52,521,0.00,2.58,0.00,0.000,4,0.000,0.051,2683,3523,3922
$GC,589,-2.05,-170.4,65.7,-11.4,57,593,0.00,2.40,0.00,0.000,6,0.000,0.030,2684,2122,3922
$GC,785,-2.05,-170.4,86.4,-10.8,72,789,0.00,2.55,0.00,0.000,4,0.000,0.052,2683,3530,3929
$GC,870,-2.05,-170.4,95.5,-10.6,78,874,0.00,2.42,0.00,0.000,6,0.000,0.031,2683,2122,3930
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,931,-0.50,0.0,101.0,9.6,82,1072,1.70,0.00,136.57,0.649,6,0.103,0.000,3022,1740,3218
$STATE,1074,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1077,2.05,170.4,106.1,0.0,94,1217,2.45,2.70,130.15,0.628,4,0.044,0.071,3593,338,2522
$GC,1389,2.05,170.4,73.6,13.3,118,1393,0.00,2.45,0.00,0.000,6,0.000,0.031,3593,1742,2522
$GC,1584,2.05,170.4,49.7,12.4,133,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1743,2522
$GC,1774,2.06,175.7,29.0,10.9,148,1786,0.00,2.70,4.00,0.689,4,0.000,0.068,3593,344,2500
$GC,1831,2.07,182.2,22.6,10.8,152,1842,0.00,2.42,4.65,0.679,6,0.000,0.031,3594,1739,2474
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,0.2,1.024220
$STATE,2033,end surface coast,CONTROL_FINISHED_OK
$STATE,2033,begin surface
$SM_CCo,2076,70.97,0.588,0,0,1790,350.04
$SM_GC,0.35,0.00,0.00,70.97,0.000,0.000,0.588,462,2142,1790,-12.30,0.48,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,070738
$TT8_MAMPS,0.088972
$HUMID,1814
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,50.9
$24V_AH,23.8,27.601
$10V_AH,9.9,20.891
$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,32.225,31.650,275.375,70.975,0.000,42.084,34.565,348.147,0.500,0.000,2879.000,14.592,329.277,1040.954,409.857,397.389,601.989,33.320,653.282,0.000,353.528,0.000,5.488
$DEVICE_MAMPS,199.420,71.331,688.766,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,119.110,0.000,0.000,0.000,0.000,0.000,2617.730,2879.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,3331,181
$CFSIZE,260034560,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,045207,3246.408,-11749.529,9,1.4,25,13.1