version: 66.02
glider: 106
mission: 9
dive: 37
start: 11 16 107 12 12 2
data:
$ID,106
$MISSION,9
$DIVE,37
$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,-55316.418
$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,31
$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
$GPS1,120337,3246.055,-11749.146,38,1.8,44,13.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,3
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-62.9
$GPS2,121109,3246.057,-11749.153,13,1.9,13,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.270,-0.029
$KALMAN_X,3221.4,23.6,-126.3,-3495.7,44.1
$KALMAN_Y,4264.9,238.7,234.5,-5888.7,30.2
$MHEAD_RNG_PITCHd_Wd,250.8,1711,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.78,-170.4,0.0,0.0,0,99,0.00,0.00,-66.18,0.000,2,0.000,0.000,461,2123,3386
$GC,102,-1.78,-170.4,2.3,-6.1,11,134,14.40,2.62,-11.60,0.000,4,0.203,0.065,2742,719,3916
$GC,200,-1.78,-170.4,14.9,-10.7,26,206,0.00,2.45,0.00,0.000,6,0.000,0.030,2741,2133,3916
$GC,277,-1.78,-170.4,23.5,-11.4,36,281,0.00,2.53,0.00,0.000,4,0.000,0.055,2741,3529,3917
$GC,341,-1.78,-170.4,30.2,-10.2,40,348,0.00,2.47,0.00,0.000,6,0.000,0.029,2741,2106,3917
$GC,538,-1.78,-170.4,49.1,-10.0,56,542,0.00,2.58,0.00,0.000,4,0.000,0.051,2741,3529,3920
$GC,589,-1.78,-170.4,54.5,-10.8,59,596,0.00,2.42,0.00,0.000,6,0.000,0.030,2741,2126,3919
$GC,785,-1.78,-170.4,73.7,-9.3,75,790,0.00,2.53,0.00,0.000,4,0.000,0.052,2741,3533,3920
$GC,857,-1.78,-170.4,80.5,-9.5,80,862,0.00,2.42,0.00,0.000,6,0.000,0.031,2741,2122,3920
$GC,1054,-1.78,-170.4,96.0,-7.6,95,1058,0.00,2.53,0.00,0.000,4,0.000,0.058,2742,729,3921
$GC,1079,-1.78,-170.4,98.1,-7.8,96,1085,0.00,2.42,0.00,0.000,6,0.000,0.031,2741,2129,3920
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1115,-0.50,0.0,100.5,7.6,99,1256,1.40,0.00,134.98,0.652,6,0.097,0.000,3023,1741,3218
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1267,1.78,170.4,104.0,0.0,111,1407,2.20,2.70,130.23,0.631,4,0.051,0.071,3526,336,2522
$GC,1658,1.78,170.4,63.6,12.6,141,1662,0.00,2.45,0.00,0.000,6,0.000,0.031,3526,1743,2520
$GC,1853,1.78,170.4,39.8,11.5,156,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1743,2520
$GC,2043,1.78,170.4,20.7,9.5,171,2047,0.00,2.67,0.00,0.000,4,0.000,0.071,3526,338,2519
$GC,2095,1.81,188.8,15.9,8.6,177,2114,0.00,2.45,12.95,0.648,6,0.000,0.031,3526,1746,2448
$GC,2180,1.81,190.5,8.4,9.2,190,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1746,2446
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,-0.3,1.011580
$STATE,2271,end surface coast,CONTROL_FINISHED_OK
$STATE,2271,begin surface
$SM_CCo,2310,68.65,0.588,0,0,1791,350.04
$SM_GC,0.34,0.00,0.00,68.65,0.000,0.000,0.588,460,2129,1791,-12.31,0.11,350.04
$IRIDIUM_FIX,3233.95,-11748.38,161107,151500
$TT8_MAMPS,0.088972
$HUMID,1822
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,8.1
$24V_AH,23.9,28.387
$10V_AH,9.9,21.680
$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,31.800,36.600,278.150,68.650,0.000,39.132,36.926,208.318,0.500,6.100,2964.900,13.536,366.846,1179.651,420.093,419.871,441.431,33.340,686.006,0.000,392.620,0.000,5.370
$DEVICE_MAMPS,203.255,71.331,651.950,587.522,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,134.626,0.000,0.000,0.000,0.000,0.000,2689.360,2971.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6417,204
$CFSIZE,260034560,255574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,125247,3246.154,-11749.311,10,2.3,29,13.1