version: 66.02
glider: 106
mission: 9
dive: 69
start: 11 17 107 23 11 42
data:
$ID,106
$MISSION,9
$DIVE,69
$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,-56040.527
$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,33
$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
$GPS1,225825,3245.982,-11749.052,24,1.4,41,13.1
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-63.3
$GPS2,231050,3245.954,-11749.043,12,1.2,16,13.1
$SPEED_LIMITS,0.165,0.274
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.059,0.162
$KALMAN_X,3230.9,46.1,-247.8,-3236.0,22.8
$KALMAN_Y,6269.5,297.9,43.0,-7949.1,-596.8
$MHEAD_RNG_PITCHd_Wd,326.8,245,-26.6,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-2.74,-64.1,0.0,0.0,0,103,0.00,0.00,-70.28,0.000,6,0.000,0.000,461,2109,3482
$GC,107,-2.77,-93.2,2.6,-6.6,12,131,13.27,2.58,-2.45,0.000,4,0.209,0.064,2521,726,3603
$GC,243,-2.77,-93.2,28.7,-16.1,29,249,0.00,2.45,0.00,0.000,6,0.000,0.028,2522,2127,3603
$GC,439,-2.77,-93.2,52.0,-9.8,45,443,0.00,2.55,0.00,0.000,4,0.000,0.051,2521,723,3606
$GC,513,-2.77,-93.2,60.9,-13.1,50,517,0.00,2.42,0.00,0.000,6,0.000,0.028,2521,2125,3606
$GC,708,-2.77,-93.2,84.2,-11.2,65,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2125,3605
$GC,897,-2.77,-93.2,104.7,-10.6,80,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2125,3606
$GC,1087,-2.77,-93.2,124.5,-10.7,95,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2125,3607
$GC,1276,-2.77,-93.2,143.5,-9.9,110,1280,0.00,2.55,0.00,0.000,4,0.000,0.054,2521,728,3608
$GC,1295,-2.77,-93.2,145.6,-10.6,111,1300,0.00,2.42,0.00,0.000,6,0.000,0.031,2521,2125,3608
$GC,1491,-2.77,-93.2,165.6,-10.3,126,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2125,3608
$GC,1680,-2.77,-93.2,184.4,-9.6,141,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2125,3606
$STATE,1854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1854,begin apogee
$GC,1861,-0.50,0.0,201.3,9.8,155,1943,2.58,0.00,76.60,0.745,6,0.120,0.000,3020,1740,3218
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1954,2.77,93.2,202.8,0.0,162,2039,3.15,2.72,73.10,0.722,4,0.040,0.070,3754,343,2836
$GC,2290,2.77,93.2,152.4,17.4,188,2294,0.00,2.45,0.00,0.000,6,0.000,0.033,3754,1740,2835
$GC,2492,2.77,93.2,120.5,15.7,204,2496,0.00,2.67,0.00,0.000,4,0.000,0.069,3754,337,2833
$GC,2750,2.77,93.2,81.1,15.7,223,2754,0.00,2.45,0.00,0.000,6,0.000,0.032,3754,1737,2832
$GC,2945,2.77,93.2,54.3,12.8,238,2949,0.00,2.67,0.00,0.000,4,0.000,0.071,3754,337,2832
$GC,3203,2.77,93.2,25.9,9.8,257,3207,0.00,2.42,0.00,0.000,6,0.000,0.031,3754,1737,2831
$GC,3404,2.82,133.9,13.2,5.5,281,3441,0.00,2.72,29.77,0.656,4,0.000,0.068,3754,333,2671
$STATE,3524,end climb,SURFACE_DEPTH_REACHED
$STATE,3524,begin surface coast
$FINISH,0.3,1.024248
$STATE,3540,end surface coast,CONTROL_FINISHED_OK
$STATE,3540,begin surface
$SM_CCo,3579,93.15,0.594,0,0,1790,350.04
$SM_GC,0.39,0.00,0.00,93.15,0.000,0.000,0.594,462,2128,1790,-12.30,0.11,350.04
$IRIDIUM_FIX,3233.95,-11748.38,181107,010123
$TT8_MAMPS,0.09204
$HUMID,1858
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,52.0
$24V_AH,23.8,31.691
$10V_AH,9.9,25.029
$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,34.225,37.025,179.475,93.150,0.000,75.376,59.394,349.353,0.500,25.250,4521.750,16.859,529.495,2239.058,360.359,612.930,670.390,33.329,691.746,0.000,572.812,0.000,5.492
$DEVICE_MAMPS,209.391,71.331,744.757,593.658,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.994,0.000,0.000,0.000,0.000,0.000,4100.240,4547.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.712,51.000
$DATA_FILE_SIZE,9605,302
$CFSIZE,260034560,254287872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181107,001339,3246.181,-11749.104,8,1.4,9,13.1