version: 66.02
glider: 106
mission: 9
dive: 34
start: 11 16 107 9 41 50
data:
$ID,106
$MISSION,9
$DIVE,34
$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,36
$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,-55259.977
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,093238,3246.236,-11750.189,30,1.2,30,13.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-62.6
$GPS2,094057,3246.257,-11750.212,16,1.6,16,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.214,-0.167
$KALMAN_X,2830.3,253.2,-108.4,-4999.8,-69.6
$KALMAN_Y,3671.2,286.5,191.2,-4929.1,242.8
$MHEAD_RNG_PITCHd_Wd,114.8,1661,-15.7,-9.259
$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,31,-1.78,-170.4,0.0,0.0,0,98,0.00,0.00,-64.45,0.000,2,0.000,0.000,460,2130,3320
$GC,102,-1.78,-170.4,2.1,-5.2,11,138,14.48,2.55,-13.68,0.000,4,0.204,0.065,2743,3513,3918
$GC,251,-1.78,-170.4,20.3,-11.3,34,257,0.00,2.42,0.00,0.000,6,0.000,0.031,2744,2110,3919
$GC,446,-1.78,-170.4,38.5,-8.9,50,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2110,3933
$GC,636,-1.78,-170.4,53.9,-8.2,65,640,0.00,2.50,-0.10,0.000,4,0.000,0.067,2743,732,3917
$GC,674,-1.78,-170.4,57.1,-8.4,67,681,0.00,2.42,0.00,0.000,6,0.000,0.028,2743,2120,3948
$GC,870,-1.78,-170.4,72.9,-8.2,83,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2119,3950
$GC,1060,-1.78,-170.4,88.9,-8.4,98,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2120,3950
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1202,-0.50,0.0,101.0,8.8,109,1347,1.40,0.00,140.45,0.654,6,0.102,0.000,3023,1733,3218
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1352,1.78,170.4,106.2,0.0,121,1492,2.22,2.70,130.15,0.633,4,0.051,0.074,3525,337,2522
$GC,1650,1.78,170.4,78.9,13.3,144,1655,0.00,2.47,0.00,0.000,6,0.000,0.032,3525,1746,2521
$GC,1846,1.78,170.4,55.0,12.4,159,1850,0.00,2.70,0.00,0.000,4,0.000,0.072,3525,335,2520
$GC,2065,1.78,170.4,29.3,9.8,175,2070,0.00,2.45,0.00,0.000,6,0.000,0.032,3525,1738,2519
$GC,2265,1.82,202.7,11.7,8.1,197,2296,0.00,2.72,23.55,0.630,4,0.000,0.071,3525,331,2391
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,0.5,1.024273
$STATE,2374,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2417,62.62,0.584,0,0,1790,350.04
$SM_GC,0.52,0.00,0.00,62.62,0.000,0.000,0.584,461,2127,1790,-12.30,0.06,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,121236
$TT8_MAMPS,0.089739
$HUMID,1819
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.6,61.3
$24V_AH,23.8,28.136
$10V_AH,9.9,21.437
$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,31.775,26.850,294.150,62.625,0.000,38.661,32.424,235.044,1.000,6.090,3082.910,16.447,369.243,1284.070,417.855,436.733,468.046,33.323,675.901,0.000,395.065,0.000,10.215
$DEVICE_MAMPS,204.022,73.632,654.251,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.404,0.000,0.000,0.000,0.000,0.000,2798.610,3089.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6467,214
$CFSIZE,260034560,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,102357,3246.170,-11749.894,11,1.2,11,13.1