version: 66.02
glider: 106
mission: 9
dive: 4
start: 11 14 107 21 22 30
data:
$ID,106
$MISSION,9
$DIVE,4
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,35
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51736
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,400
$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,-54605.539
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,20
$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,2
$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
$GPS1,210457,3246.252,-11747.827,12,1.9,13,13.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-60.9
$GPS2,212123,3246.289,-11747.728,14,2.1,33,13.1
$SPEED_LIMITS,0.355,0.365
$TGT_NAME,H2
$TGT_LATLONG,3246.000,-11749.190
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.350,-0.106
$KALMAN_X,307.1,176.5,121.1,-903.8,14.5
$KALMAN_Y,810.5,491.6,372.8,-1043.2,56.1
$MHEAD_RNG_PITCHd_Wd,240.0,2341,-11.0,-9.524
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.03,-146.1,0.0,0.0,0,108,0.00,0.00,-78.53,0.000,2,0.000,0.000,465,1808,3200
$GC,111,-1.03,-146.1,2.0,-5.7,13,149,15.43,2.97,-15.40,0.000,4,0.209,0.059,2873,3413,3815
$GC,195,-1.03,-146.1,8.6,-6.9,26,201,0.00,2.42,0.00,0.000,6,0.000,0.032,2873,2003,3861
$GC,268,-1.03,-146.1,12.9,-6.4,37,274,0.00,2.53,0.00,0.000,4,0.000,0.058,2873,627,3862
$GC,320,-1.03,-146.1,16.1,-5.6,45,327,0.00,2.42,0.00,0.000,6,0.000,0.032,2873,2027,3862
$GC,393,-1.03,-146.1,20.5,-5.9,56,397,0.00,2.58,0.00,0.000,4,0.000,0.056,2873,625,3863
$GC,426,-1.03,-146.1,22.5,-6.8,58,430,0.00,2.42,0.00,0.000,6,0.000,0.031,2873,2020,3863
$GC,622,-1.03,-146.1,33.8,-5.6,73,626,0.00,2.53,0.00,0.000,4,0.000,0.053,2873,3422,3863
$GC,727,-1.03,-146.1,39.6,-5.0,80,733,0.00,2.42,0.00,0.000,6,0.000,0.032,2873,2015,3863
$GC,924,-1.06,-146.1,48.8,-4.8,96,928,0.00,2.58,0.00,0.000,4,0.000,0.052,2873,3427,3864
$GC,978,-1.08,-146.1,51.8,-5.6,100,982,0.00,2.42,0.00,0.000,6,0.000,0.033,2873,2029,3864
$GC,1174,-1.15,-146.1,64.9,-6.8,115,1179,0.12,2.55,0.00,0.000,4,0.057,0.051,2837,3432,3865
$GC,1281,-1.15,-146.1,72.0,-6.8,122,1287,0.00,2.38,0.00,0.000,6,0.000,0.035,2837,2056,3865
$GC,1477,-1.20,-146.1,84.2,-6.0,138,1481,0.00,2.62,0.00,0.000,4,0.000,0.061,2838,633,3864
$GC,1591,-1.20,-146.1,90.6,-5.3,146,1596,0.00,2.45,0.00,0.000,6,0.000,0.034,2837,2037,3865
$STATE,1761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1761,begin apogee
$GC,1768,-0.38,0.0,100.6,6.0,159,1897,0.82,0.00,124.95,0.693,6,0.079,0.000,3011,1744,3218
$STATE,1900,end apogee,CONTROL_FINISHED_OK
$STATE,1900,begin climb
$GC,1903,1.03,146.1,105.2,0.0,170,2026,1.42,2.75,110.28,0.667,4,0.062,0.074,3322,337,2621
$GC,2278,1.24,318.6,85.1,6.2,199,2418,0.22,2.47,131.43,0.652,6,0.054,0.036,3374,1734,1919
$GC,2607,1.30,367.2,57.4,8.6,225,2649,0.00,2.58,36.92,0.648,4,0.000,0.054,3373,3127,1720
$GC,2704,1.38,407.6,49.1,8.7,232,2742,0.12,2.50,31.73,0.646,6,0.054,0.041,3409,1741,1556
$GC,2930,1.38,407.6,26.5,10.2,250,2935,0.00,2.55,0.00,0.000,4,0.000,0.051,3409,3137,1549
$GC,2963,1.41,407.6,23.2,10.5,252,2967,0.00,2.47,0.00,0.000,6,0.000,0.040,3410,1750,1548
$FREEZE,19.50,16.875,-1.852
$FREEZE,18.91,16.893,-1.852
$FREEZE,18.20,16.907,-1.852
$FREEZE,17.69,16.927,-1.851
$FREEZE,17.04,16.938,-1.851
$FREEZE,16.27,16.948,-1.851
$FREEZE,15.70,16.958,-1.850
$FREEZE,15.03,16.967,-1.850
$FREEZE,14.51,16.979,-1.850
$FREEZE,13.83,16.998,-1.849
$FREEZE,13.14,17.081,-1.849
$FREEZE,12.56,17.158,-1.848
$FREEZE,11.90,17.185,-1.846
$FREEZE,11.34,17.173,-1.847
$FREEZE,10.59,17.170,-1.846
$FREEZE,10.00,17.173,-1.846
$FREEZE,9.39,17.274,-1.846
$FREEZE,8.76,17.321,-1.846
$FREEZE,8.04,17.386,-1.844
$FREEZE,7.42,17.370,-1.844
$FREEZE,6.79,17.402,-1.844
$FREEZE,6.15,17.420,-1.844
$FREEZE,5.47,17.447,-1.844
$FREEZE,4.88,17.444,-1.842
$FREEZE,4.24,17.420,-1.842
$FREEZE,3.61,17.433,-1.841
$GC,3167,1.43,407.6,3.6,9.7,280,3173,0.00,2.70,0.00,0.000,4,0.000,0.074,3409,328,1546
$FREEZE,2.15,17.485,-1.840
$FREEZE,1.41,17.598,-1.842
$STATE,3185,end climb,SURFACE_DEPTH_REACHED
$STATE,3185,begin surface coast
$FREEZE,0.81,18.261,-1.839
$FREEZE,0.04,18.599,-1.835
$FREEZE,-0.11,18.588,-1.190
$FINISH,-0.1,1.015171
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3297,0.00,0.000,0,0,1542,411.12
$SM_GC,0.72,13.23,0.00,0.00,0.045,0.000,0.000,462,2024,1542,-12.09,-0.03,411.12
$IRIDIUM_FIX,3236.51,-11746.11,151107,010155
$TT8_MAMPS,0.069797
$HUMID,1903
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,51.0
$24V_AH,23.6,24.206
$10V_AH,10.0,18.549
$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,31.375,56.900,435.300,0.000,0.000,118.635,168.754,398.036,0.500,145.308,4195.692,36.296,565.846,1753.575,492.410,619.108,876.398,32.334,873.145,0.000,565.370,0.000,5.489
$DEVICE_MAMPS,208.624,74.399,693.368,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.890,0.000,0.000,0.000,0.000,0.000,0.000,4341.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9609,286
$CFSIZE,260034560,256942080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141107,221838,3246.362,-11747.905,38,1.7,38,13.1