version: 66.02
glider: 106
mission: 9
dive: 33
start: 11 16 107 8 51 24
data:
$ID,106
$MISSION,9
$DIVE,33
$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,36
$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,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,-55242.898
$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,19
$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
$GPS1,082245,3246.371,-11750.166,11,1.6,12,13.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-62.6
$GPS2,085033,3246.365,-11750.200,17,1.7,35,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.009,-0.271
$KALMAN_X,2735.9,317.1,-77.2,-4982.4,-15.1
$KALMAN_Y,3337.3,291.7,148.5,-4360.5,278.6
$MHEAD_RNG_PITCHd_Wd,168.9,681,-15.7,-9.259
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.78,-170.4,0.0,0.0,0,100,0.00,0.00,-66.38,0.000,2,0.000,0.000,462,2134,3427
$GC,103,-1.78,-170.4,2.4,-6.6,11,134,14.32,0.00,-9.77,0.000,6,0.200,0.000,2743,2134,3898
$GC,200,-1.78,-170.4,15.4,-10.9,26,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2134,3913
$GC,270,-1.78,-170.4,23.2,-11.1,35,273,0.00,0.00,-0.30,0.000,6,0.000,0.000,2744,2134,3918
$GC,460,-1.78,-170.4,42.3,-9.2,50,464,0.00,2.50,0.00,0.000,4,0.000,0.052,2743,3519,3940
$GC,511,-1.78,-170.4,47.2,-9.6,53,518,0.00,2.45,0.00,0.000,6,0.000,0.030,2743,2108,3940
$GC,708,-1.78,-170.4,64.0,-8.7,69,712,0.00,2.50,0.00,0.000,4,0.000,0.055,2743,731,3927
$GC,746,-1.78,-170.4,67.5,-9.4,71,753,0.00,2.42,0.00,0.000,6,0.000,0.028,2743,2122,3942
$GC,943,-1.78,-170.4,85.1,-8.9,87,947,0.00,2.53,0.00,0.000,4,0.000,0.054,2743,3522,3942
$GC,994,-1.78,-170.4,90.2,-9.4,90,1001,0.00,2.42,0.00,0.000,6,0.000,0.031,2743,2127,3938
$STATE,1112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1119,-0.50,0.0,100.5,8.7,100,1260,1.40,0.00,136.77,0.653,6,0.100,0.000,3024,1745,3217
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1273,1.78,170.4,105.2,0.0,112,1409,2.20,0.00,130.80,0.628,6,0.050,0.000,3525,1746,2523
$GC,1594,1.78,170.4,76.8,12.1,138,1599,0.00,2.67,0.00,0.000,4,0.000,0.075,3525,337,2522
$GC,1852,1.78,170.4,44.0,12.1,157,1856,0.00,2.45,0.00,0.000,6,0.000,0.032,3525,1741,2521
$GC,2048,1.79,176.6,24.8,9.0,172,2060,0.00,2.72,4.03,0.693,4,0.000,0.071,3525,340,2498
$GC,2172,1.81,192.2,13.0,8.7,187,2191,0.00,2.45,11.48,0.647,6,0.000,0.032,3525,1746,2434
$GC,2257,1.84,214.2,5.7,8.5,200,2276,0.00,0.00,16.65,0.627,6,0.000,0.000,3525,1745,2343
$STATE,2292,end climb,SURFACE_DEPTH_REACHED
$STATE,2293,begin surface coast
$FINISH,-0.2,1.024269
$STATE,2314,end surface coast,CONTROL_FINISHED_OK
$STATE,2314,begin surface
$SM_CCo,2350,57.60,0.583,0,0,1791,350.04
$SM_GC,0.43,0.00,0.00,57.60,0.000,0.000,0.583,459,2129,1791,-12.31,0.11,350.04
$IRIDIUM_FIX,3231.39,-11750.64,161107,121241
$TT8_MAMPS,0.089739
$HUMID,1832
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,51.0,52.0
$24V_AH,23.2,28.048
$10V_AH,9.9,21.353
$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,31.725,26.450,299.725,57.600,0.000,188.699,263.064,708.303,0.750,6.090,4185.910,35.127,362.879,1447.609,427.006,457.385,1372.365,33.332,686.816,0.000,387.849,0.000,5.493
$DEVICE_MAMPS,200.187,75.166,692.601,582.920,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,137.604,0.000,0.000,0.000,0.000,0.000,3790.570,4192.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6418,209
$CFSIZE,260034560,255717376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,093238,3246.236,-11750.189,30,1.2,30,13.1