version: 66.02
glider: 106
mission: 9
dive: 32
start: 11 16 107 6 46 57
data:
$ID,106
$MISSION,9
$DIVE,32
$D_SURF,2
$D_FLARE,2
$D_TGT,400
$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,140
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,1200
$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,-55207.145
$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,24
$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
$GPS1,063517,3246.367,-11749.908,15,2.7,34,13.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-60.1
$GPS2,064607,3246.374,-11749.915,11,1.4,28,13.1
$SPEED_LIMITS,0.165,0.274
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.043,-0.159
$KALMAN_X,2376.5,542.9,137.9,-4620.4,-223.6
$KALMAN_Y,1979.6,425.4,71.7,-3043.8,399.5
$MHEAD_RNG_PITCHd_Wd,182.2,868,-27.8,-9.524
$D_GRID,400
$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,-2.85,-58.6,0.0,0.0,0,92,0.00,0.00,-60.12,0.000,2,0.000,0.000,461,2136,3200
$GC,95,-2.89,-92.4,2.0,-5.9,10,126,12.88,2.62,-9.90,0.000,4,0.203,0.063,2497,697,3597
$GC,225,-2.89,-92.4,23.9,-18.9,29,229,0.00,2.47,0.00,0.000,6,0.000,0.028,2497,2133,3597
$GC,421,-2.89,-92.4,55.5,-15.3,44,425,0.00,2.58,0.00,0.000,4,0.000,0.050,2496,709,3597
$GC,458,-2.89,-92.4,61.1,-14.5,46,465,0.00,2.47,0.00,0.000,6,0.000,0.028,2497,2127,3598
$GC,654,-2.89,-92.4,88.0,-13.6,62,659,0.00,2.55,0.00,0.000,4,0.000,0.051,2497,715,3599
$GC,766,-2.89,-92.4,102.9,-13.0,70,770,0.00,2.42,0.00,0.000,6,0.000,0.029,2497,2128,3602
$GC,968,-2.89,-92.4,127.4,-11.9,86,973,0.00,2.58,0.00,0.000,4,0.000,0.054,2497,716,3607
$GC,1006,-2.89,-92.4,132.6,-13.7,88,1013,0.00,2.45,0.00,0.000,6,0.000,0.031,2497,2115,3607
$GC,1203,-2.89,-92.4,155.8,-11.5,104,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2115,3609
$GC,1392,-2.89,-92.4,178.6,-12.0,119,1397,0.00,2.55,0.00,0.000,4,0.000,0.055,2496,3526,3609
$GC,1570,-2.89,-92.4,199.9,-11.3,132,1575,0.00,2.45,0.00,0.000,6,0.000,0.034,2497,2107,3620
$GC,1766,-2.89,-92.4,220.9,-10.7,147,1770,0.00,2.58,0.00,0.000,4,0.000,0.055,2497,3525,3621
$GC,1812,-2.89,-92.4,226.4,-12.0,150,1816,0.00,2.42,0.00,0.000,6,0.000,0.034,2497,2120,3621
$GC,2007,-2.89,-92.4,247.0,-11.2,165,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2119,3620
$GC,2196,-2.89,-92.4,267.5,-10.8,180,2201,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,735,3607
$GC,2242,-2.89,-92.4,272.6,-11.6,183,2246,0.00,2.42,0.00,0.000,6,0.000,0.034,2496,2134,3597
$GC,2444,-2.89,-92.4,295.0,-11.3,199,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2133,3576
$GC,2634,-2.90,-99.0,314.2,-8.8,214,2638,0.00,2.60,0.00,0.000,4,0.000,0.064,2497,730,3574
$GC,2891,-2.99,-170.4,314.1,0.0,233,2896,0.00,2.42,0.00,0.000,6,0.000,0.034,2497,2126,3620
$GC,3087,-2.99,-170.4,314.1,0.0,248,3091,0.00,2.58,0.00,0.000,4,0.000,0.063,2497,726,3623
$GC,3345,-2.99,-170.4,314.2,0.0,267,3349,0.00,2.45,0.00,0.000,6,0.000,0.035,2497,2130,3623
$GC,3540,-2.99,-170.4,314.3,-0.1,282,3545,0.00,2.60,0.00,0.000,4,0.000,0.063,2497,726,3622
$GC,3798,-2.99,-170.4,314.2,-0.2,301,3802,0.00,2.42,0.00,0.000,6,0.000,0.035,2497,2126,3618
$STATE,3859,end dive,NO_VERTICAL_VELOCITY
$STATE,3859,begin apogee
$GC,3866,-0.50,0.0,314.3,0.0,306,3949,2.55,0.00,78.57,0.874,6,0.096,0.000,3019,1747,3218
$STATE,3952,end apogee,CONTROL_FINISHED_OK
$STATE,3952,begin climb
$GC,3955,2.99,170.4,314.1,0.0,313,4100,3.42,0.00,135.10,0.824,6,0.047,0.000,3791,1747,2522
$GC,4289,2.99,170.4,253.7,22.8,340,4293,0.00,2.70,0.00,0.000,4,0.000,0.077,3791,337,2520
$GC,4546,2.99,170.4,191.5,22.8,359,4551,0.00,2.47,0.00,0.000,6,0.000,0.036,3791,1730,2519
$GC,4742,2.99,170.4,148.7,20.8,374,4746,0.00,2.58,0.00,0.000,4,0.000,0.054,3791,3143,2518
$GC,4999,2.99,170.4,95.0,19.5,393,5003,0.00,2.53,0.00,0.000,6,0.000,0.043,3791,1737,2517
$GC,5202,2.99,170.4,57.5,17.5,409,5206,0.00,2.70,0.00,0.000,4,0.000,0.079,3791,328,2517
$GC,5459,2.99,170.4,15.2,14.8,430,5465,0.00,2.47,0.00,0.000,6,0.000,0.032,3791,1753,2515
$GC,5531,2.99,170.4,4.9,14.0,441,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3791,1757,2515
$STATE,5547,end climb,SURFACE_DEPTH_REACHED
$STATE,5547,begin surface coast
$FINISH,0.1,1.024269
$STATE,5563,end surface coast,CONTROL_FINISHED_OK
$STATE,5563,begin surface
$SM_CCo,5623,76.57,0.631,0,0,1790,350.04
$SM_GC,0.22,0.00,0.00,76.57,0.000,0.000,0.631,462,2133,1790,-12.30,0.23,350.04
$IRIDIUM_FIX,3233.95,-11751.84,161107,090902
$TT8_MAMPS,0.089739
$HUMID,1933
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,61.5
$24V_AH,23.7,27.913
$10V_AH,9.9,21.235
$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,33.875,66.975,213.675,76.575,0.000,38.870,34.159,353.909,1.000,15.680,6435.320,30.687,796.453,3504.164,387.859,987.962,668.576,33.314,898.154,0.000,916.707,0.000,10.155
$DEVICE_MAMPS,203.255,79.001,874.380,631.241,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,302.466,0.000,0.000,0.000,0.000,0.000,5827.300,6451.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,12725,446
$CFSIZE,260034560,255762432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,082245,3246.371,-11750.166,11,1.6,12,13.1