version: 66.02
glider: 106
mission: 9
dive: 39
start: 11 16 107 13 57 37
data:
$ID,106
$MISSION,9
$DIVE,39
$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,-55367.668
$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,25
$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
$GPS1,134335,3246.207,-11749.462,11,2.1,30,13.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-63.2
$GPS2,135645,3246.193,-11749.469,12,1.8,12,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.263,-0.066
$KALMAN_X,3776.9,-33.2,-15.5,-4599.2,177.9
$KALMAN_Y,4778.4,223.7,139.0,-6040.3,29.1
$MHEAD_RNG_PITCHd_Wd,242.7,1268,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.78,-170.4,0.0,0.0,0,98,0.00,0.00,-66.00,0.000,2,0.000,0.000,461,2123,3380
$GC,101,-1.78,-170.4,2.2,-6.4,11,133,14.25,2.62,-11.70,0.000,4,0.199,0.064,2742,719,3915
$GC,273,-1.78,-170.4,22.4,-9.7,36,278,0.00,2.45,0.00,0.000,6,0.000,0.028,2742,2133,3916
$GC,469,-1.78,-170.4,41.7,-10.6,51,473,0.00,2.50,0.00,0.000,4,0.000,0.054,2742,3523,3918
$GC,573,-1.78,-170.4,53.6,-11.4,58,580,0.00,2.45,0.00,0.000,6,0.000,0.029,2742,2111,3919
$GC,770,-1.78,-170.4,71.9,-9.0,74,774,0.00,2.58,0.00,0.000,4,0.000,0.052,2742,3532,3920
$GC,861,-1.78,-170.4,80.3,-8.9,80,867,0.00,2.42,0.00,0.000,6,0.000,0.031,2742,2119,3920
$GC,1058,-1.78,-170.4,97.0,-8.9,96,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2119,3921
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1099,-0.50,0.0,100.2,8.5,99,1240,1.40,0.00,134.85,0.653,6,0.100,0.000,3022,1738,3218
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1257,begin climb
$GC,1260,1.78,170.4,105.0,0.0,111,1399,2.22,2.70,130.32,0.633,4,0.049,0.071,3528,336,2522
$GC,1651,1.78,170.4,63.5,12.4,141,1655,0.00,2.47,0.00,0.000,6,0.000,0.031,3528,1749,2520
$GC,1846,1.78,170.4,40.4,11.2,156,1850,0.00,2.70,0.00,0.000,4,0.000,0.069,3528,332,2520
$GC,1892,1.78,170.4,35.6,10.9,159,1896,0.00,2.45,0.00,0.000,6,0.000,0.031,3528,1733,2519
$GC,2088,1.83,206.9,18.3,7.9,175,2118,0.00,0.00,26.95,0.626,6,0.000,0.000,3529,1734,2373
$GC,2184,1.83,206.9,9.5,10.5,190,2190,0.00,2.65,0.00,0.000,4,0.000,0.069,3528,338,2372
$STATE,2247,end climb,SURFACE_DEPTH_REACHED
$STATE,2247,begin surface coast
$FINISH,0.3,1.024268
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2305,60.60,0.584,0,0,1790,350.04
$SM_GC,0.38,0.00,0.00,60.60,0.000,0.000,0.584,462,2124,1790,-12.30,-0.03,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,171758
$TT8_MAMPS,0.088972
$HUMID,1829
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.5
$24V_AH,23.8,28.567
$10V_AH,9.9,21.854
$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,31.725,31.850,292.125,60.600,0.000,116.377,141.664,239.989,0.500,6.110,3274.890,13.776,354.206,1299.113,414.913,415.474,669.479,33.342,674.697,0.000,390.697,0.000,5.369
$DEVICE_MAMPS,199.420,71.331,652.717,584.454,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.187,0.000,0.000,0.000,0.000,0.000,2972.980,3281.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6450,202
$CFSIZE,260034560,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,143751,3246.256,-11749.650,12,1.9,12,13.1