version: 66.02
glider: 106
mission: 9
dive: 47
start: 11 16 107 20 38 53
data:
$ID,106
$MISSION,9
$DIVE,47
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,70
$T_MISSION,120
$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,-55575.074
$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,29
$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
$GPS1,202951,3245.914,-11749.275,7,1.7,7,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.2
$GPS2,203803,3245.944,-11749.264,14,1.4,14,13.1
$SPEED_LIMITS,0.165,0.274
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.133,0.097
$KALMAN_X,4337.0,1.2,48.8,-4935.0,-78.1
$KALMAN_Y,6723.2,351.5,148.5,-8577.9,-39.6
$MHEAD_RNG_PITCHd_Wd,40.8,154,-27.8,-9.524
$D_GRID,200
$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,-2.85,-58.6,0.0,0.0,0,100,0.00,0.00,-66.20,0.000,2,0.000,0.000,463,2123,3369
$GC,103,-2.89,-87.8,2.3,-6.4,11,128,13.02,2.58,-4.88,0.000,4,0.203,0.064,2500,3535,3578
$GC,379,-2.89,-87.8,46.0,-13.7,40,384,0.00,2.47,0.00,0.000,6,0.000,0.030,2500,2107,3581
$GC,575,-2.89,-87.8,71.1,-12.2,55,579,0.00,2.58,0.00,0.000,4,0.000,0.049,2500,3528,3581
$GC,832,-2.89,-87.8,101.3,-11.2,74,836,0.00,2.40,0.00,0.000,6,0.000,0.031,2500,2123,3583
$GC,1034,-2.89,-87.8,123.3,-10.9,90,1039,0.00,2.55,0.00,0.000,4,0.000,0.055,2500,732,3583
$GC,1067,-2.89,-87.8,127.2,-12.5,92,1072,0.00,2.42,0.00,0.000,6,0.000,0.029,2500,2131,3583
$GC,1263,-2.89,-87.8,149.3,-11.3,107,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2131,3583
$GC,1452,-2.89,-87.8,170.4,-11.1,122,1456,0.00,2.53,0.00,0.000,4,0.000,0.053,2501,3525,3583
$GC,1630,-2.89,-87.8,190.5,-11.1,135,1635,0.00,2.45,0.00,0.000,6,0.000,0.034,2500,2119,3583
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1722,begin apogee
$GC,1729,-0.50,0.0,200.9,11.1,142,1809,2.78,0.00,71.80,0.755,6,0.135,0.000,3018,1743,3218
$STATE,1832,end apogee,CONTROL_FINISHED_OK
$STATE,1833,begin climb
$GC,1835,2.89,87.8,202.8,0.0,149,1913,3.28,2.72,68.05,0.731,4,0.043,0.071,3776,331,2860
$GC,1998,2.89,87.8,182.0,18.7,161,2006,0.00,2.50,0.00,0.000,6,0.000,0.032,3776,1732,2858
$GC,2195,2.89,87.8,151.5,16.0,177,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3775,1732,2857
$GC,2384,2.89,87.8,123.6,14.5,192,2389,0.00,2.67,0.00,0.000,4,0.000,0.069,3775,337,2856
$GC,2642,2.89,87.8,85.9,13.6,211,2646,0.00,2.47,0.00,0.000,6,0.000,0.032,3775,1735,2855
$GC,2844,2.89,87.8,61.4,12.1,227,2848,0.00,2.67,0.00,0.000,4,0.000,0.070,3775,337,2855
$GC,3101,2.89,87.8,33.9,9.7,246,3106,0.00,2.47,0.00,0.000,6,0.000,0.031,3776,1745,2853
$GC,3297,2.94,127.0,20.4,5.3,261,3333,0.00,2.75,28.80,0.676,4,0.000,0.069,3775,330,2699
$GC,3432,2.94,127.0,9.3,11.3,281,3438,0.00,2.45,0.00,0.000,6,0.000,0.030,3775,1741,2697
$STATE,3502,end climb,SURFACE_DEPTH_REACHED
$STATE,3502,begin surface coast
$FINISH,-0.3,1.024197
$STATE,3523,end surface coast,CONTROL_FINISHED_OK
$STATE,3523,begin surface
$SM_CCo,3571,96.85,0.612,0,0,1790,350.04
$SM_GC,0.47,0.00,0.00,96.85,0.000,0.000,0.612,462,2127,1790,-12.30,0.06,350.04
$IRIDIUM_FIX,3233.95,-11750.64,161107,232358
$TT8_MAMPS,0.088972
$HUMID,1864
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,51.1
$24V_AH,23.8,29.345
$10V_AH,9.9,22.543
$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,34.325,42.050,168.650,96.850,0.000,40.992,32.515,249.232,0.500,241.990,3988.010,14.686,531.604,2114.081,354.405,638.022,516.893,33.337,699.559,0.000,602.641,0.000,5.489
$DEVICE_MAMPS,203.255,70.564,754.728,612.066,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.303,0.000,0.000,0.000,0.000,0.000,3826.750,4230.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,9590,295
$CFSIZE,260034560,255197184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,214107,3246.058,-11748.912,14,1.3,30,13.1