version: 66.02
glider: 106
mission: 9
dive: 20
start: 11 15 107 20 2 13
data:
$ID,106
$MISSION,9
$DIVE,20
$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,30
$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,15
$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,-55000.684
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3050
$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
$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,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
$GPS1,195320,3246.562,-11747.957,8,1.6,13,13.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-56.8
$GPS2,200108,3246.583,-11747.986,29,1.1,29,13.1
$SPEED_LIMITS,0.415,0.425
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.393,-0.162
$KALMAN_X,11.2,6.6,6.2,1416.9,5.1
$KALMAN_Y,143.1,98.1,93.6,-509.3,76.3
$MHEAD_RNG_PITCHd_Wd,234.5,3687,-11.4,-11.111
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.08,-170.4,0.0,0.0,0,141,0.00,0.00,-108.57,0.000,2,0.000,0.000,461,2120,3308
$GC,145,-1.08,-170.4,2.0,-5.5,18,182,14.70,2.60,-14.00,0.000,4,0.199,0.067,2809,3525,3916
$GC,420,-1.08,-170.4,29.1,-8.7,53,425,0.00,2.42,0.00,0.000,6,0.000,0.029,2809,2110,3916
$GC,616,-1.08,-170.4,44.0,-7.3,68,620,0.00,2.55,0.00,0.000,4,0.000,0.051,2809,3524,3918
$GC,649,-1.08,-170.4,46.6,-7.7,70,653,0.00,2.40,0.00,0.000,6,0.000,0.029,2809,2122,3919
$GC,845,-1.08,-170.4,61.0,-6.8,85,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2121,3917
$GC,1036,-1.08,-170.4,73.3,-6.1,100,1040,0.00,2.55,0.00,0.000,4,0.000,0.053,2809,3528,3918
$GC,1074,-1.08,-170.4,75.9,-7.1,102,1081,0.00,2.42,0.00,0.000,6,0.000,0.031,2809,2109,3918
$GC,1271,-1.08,-170.4,88.4,-6.8,118,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2109,3918
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1468,-0.38,0.0,100.7,6.4,133,1606,0.73,0.00,131.27,0.660,6,0.091,0.000,2960,1744,3219
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1609,begin climb
$GC,1612,1.08,170.4,105.5,0.0,145,1753,1.50,2.72,130.00,0.636,4,0.067,0.073,3284,335,2524
$GC,1771,1.41,432.6,99.5,6.4,157,1986,0.32,2.47,203.10,0.615,6,0.041,0.033,3361,1757,1453
$GC,2175,1.50,511.8,64.1,9.7,190,2242,0.00,2.83,61.62,0.611,4,0.000,0.077,3361,338,1131
$GC,2276,1.56,555.6,53.8,10.3,197,2319,0.12,2.42,34.78,0.607,6,0.048,0.034,3397,1736,951
$GC,2508,1.62,603.1,29.3,10.3,216,2557,0.00,2.58,41.70,0.602,4,0.000,0.051,3397,3122,759
$GC,2597,1.69,662.7,20.0,10.0,223,2610,0.00,2.47,6.28,0.613,6,0.000,0.038,3397,1739,737
$GC,2678,1.74,707.0,11.7,10.3,235,2686,0.15,2.70,0.70,0.752,4,0.051,0.077,3442,325,735
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2756,begin surface coast
$FINISH,0.4,1.024115
$STATE,2770,end surface coast,CONTROL_FINISHED_OK
$STATE,2770,begin surface
$SM_CCo,2862,0.00,0.000,0,0,733,609.57
$SM_GC,0.63,13.38,0.00,0.00,0.043,0.000,0.000,460,2114,733,-11.88,-0.31,609.57
$IRIDIUM_FIX,3233.95,-11702.55,151107,222251
$TT8_MAMPS,0.070564
$HUMID,1858
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,51.6
$24V_AH,23.7,26.453
$10V_AH,10.1,20.201
$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,30.900,37.000,609.450,0.000,0.000,37.626,58.822,223.388,0.500,0.000,3438.000,29.875,418.536,1310.730,639.220,519.389,466.992,31.415,996.539,0.000,469.874,0.000,5.491
$DEVICE_MAMPS,199.420,77.467,751.660,0.000,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.039,0.000,0.000,0.000,0.000,0.000,0.000,3438.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6478,249
$CFSIZE,260034560,256286720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151107,205039,3246.594,-11748.164,12,1.8,12,13.1