version: 66.02
glider: 106
mission: 9
dive: 43
start: 11 16 107 17 21 20
data:
$ID,106
$MISSION,9
$DIVE,43
$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,-55469.789
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,171253,3246.261,-11750.176,15,2.3,34,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-62.1
$GPS2,172029,3246.298,-11750.192,15,3.4,34,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.042,-0.268
$KALMAN_X,4195.9,-30.8,236.0,-6394.9,29.9
$KALMAN_Y,6176.9,287.2,45.4,-7218.8,207.7
$MHEAD_RNG_PITCHd_Wd,175.8,559,-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,-170.4,0.0,0.0,0,100,0.00,0.00,-66.22,0.000,2,0.000,0.000,462,2126,3383
$GC,103,-1.78,-170.4,2.3,-6.7,11,135,14.20,2.60,-11.80,0.000,4,0.198,0.065,2743,3522,3914
$GC,174,-1.78,-170.4,11.6,-10.5,22,181,0.00,2.45,0.00,0.000,6,0.000,0.030,2743,2103,3916
$GC,246,-1.78,-170.4,19.2,-10.7,33,252,0.00,2.47,0.00,0.000,4,0.000,0.053,2743,734,3916
$GC,304,-1.78,-170.4,25.6,-10.8,38,311,0.00,2.42,0.00,0.000,6,0.000,0.028,2743,2122,3916
$GC,500,-1.78,-170.4,45.1,-9.7,54,504,0.00,2.53,0.00,0.000,4,0.000,0.052,2743,3523,3917
$GC,525,-1.78,-170.4,47.5,-9.5,55,532,0.00,2.42,0.00,0.000,6,0.000,0.028,2743,2118,3917
$GC,722,-1.78,-170.4,64.2,-8.0,71,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2117,3918
$GC,911,-1.78,-170.4,79.9,-8.7,86,915,0.00,2.50,0.00,0.000,4,0.000,0.054,2743,738,3919
$GC,949,-1.78,-170.4,83.3,-8.6,88,956,0.00,2.40,0.00,0.000,6,0.000,0.028,2743,2130,3920
$GC,1146,-1.78,-170.4,99.9,-8.3,104,1150,0.00,2.17,0.00,0.000,3,0.000,0.053,2743,3349,3920
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1159,-0.50,0.0,100.5,8.3,104,1298,1.38,0.00,134.70,0.650,6,0.102,0.000,3020,1747,3217
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1304,1.78,170.4,104.8,0.0,116,1445,2.25,2.72,130.77,0.624,4,0.051,0.071,3530,329,2521
$GC,1648,1.78,170.4,69.1,12.5,142,1655,0.00,2.47,0.00,0.000,6,0.000,0.030,3530,1734,2520
$GC,1845,1.78,170.4,47.3,11.2,158,1849,0.00,2.67,0.00,0.000,4,0.000,0.069,3530,328,2520
$GC,2036,1.78,170.4,26.2,10.5,172,2040,0.00,2.45,0.00,0.000,6,0.000,0.031,3530,1738,2519
$GC,2238,1.78,170.4,7.0,10.4,197,2244,0.00,2.65,0.00,0.000,4,0.000,0.068,3530,336,2517
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2288,begin surface coast
$FINISH,-0.1,1.014684
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2351,75.82,0.581,0,0,1790,350.04
$SM_GC,0.43,0.00,0.00,75.82,0.000,0.000,0.581,460,2126,1790,-12.31,0.03,350.04
$IRIDIUM_FIX,3233.95,-11750.64,161107,202045
$TT8_MAMPS,0.088972
$HUMID,1824
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.1,61.2
$24V_AH,23.9,28.912
$10V_AH,9.9,22.191
$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,31.325,40.975,265.475,75.825,0.000,39.786,35.482,189.526,0.750,6.100,2997.900,35.132,370.171,1214.728,424.229,451.129,417.525,33.343,687.689,0.000,399.223,0.000,7.329
$DEVICE_MAMPS,197.886,70.564,649.649,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.231,0.000,0.000,0.000,0.000,0.000,2724.810,3004.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6457,208
$CFSIZE,260034560,255352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,180301,3246.175,-11750.236,34,1.3,38,13.1