version: 66.02
glider: 106
mission: 9
dive: 40
start: 11 16 107 14 46 1
data:
$ID,106
$MISSION,9
$DIVE,40
$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,-55381.68
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,143751,3246.256,-11749.650,12,1.9,12,13.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-63.0
$GPS2,144509,3246.256,-11749.666,13,1.2,13,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.245,-0.117
$KALMAN_X,3955.3,-43.5,72.0,-5159.4,189.6
$KALMAN_Y,5064.3,229.2,83.2,-6160.4,76.2
$MHEAD_RNG_PITCHd_Wd,231.4,1026,-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,-170.4,0.0,0.0,0,94,0.00,0.00,-60.28,0.000,2,0.000,0.000,462,2126,3194
$GC,97,-1.78,-170.4,2.0,-6.0,10,139,14.18,2.62,-18.15,0.000,4,0.198,0.064,2740,721,3915
$GC,232,-1.78,-170.4,16.6,-11.1,31,238,0.00,2.45,0.00,0.000,6,0.000,0.029,2740,2135,3915
$GC,302,-1.78,-170.4,24.3,-11.0,39,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2135,3916
$GC,491,-1.78,-170.4,42.8,-9.8,54,495,0.00,2.50,0.00,0.000,4,0.000,0.054,2740,3526,3917
$GC,549,-1.78,-170.4,48.4,-9.5,58,556,0.00,2.42,0.00,0.000,6,0.000,0.030,2740,2112,3917
$GC,746,-1.78,-170.4,66.0,-9.1,74,750,0.00,2.55,0.00,0.000,4,0.000,0.052,2739,3525,3919
$GC,791,-1.78,-170.4,70.5,-9.6,77,795,0.00,2.40,0.00,0.000,6,0.000,0.031,2740,2117,3918
$GC,994,-1.78,-170.4,89.0,-8.7,93,998,0.00,2.55,0.00,0.000,4,0.000,0.052,2740,3526,3919
$GC,1053,-1.78,-170.4,94.6,-10.0,97,1057,0.00,2.42,0.00,0.000,6,0.000,0.031,2740,2120,3919
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1113,-0.50,0.0,100.0,9.4,101,1254,1.40,0.00,134.52,0.652,6,0.097,0.000,3022,1738,3217
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1263,begin climb
$GC,1266,1.78,170.4,106.8,0.0,113,1406,2.22,2.70,130.27,0.632,4,0.050,0.071,3528,337,2522
$GC,1532,1.78,170.4,83.1,14.2,133,1538,0.00,2.47,0.00,0.000,6,0.000,0.031,3528,1744,2521
$GC,1727,1.78,170.4,59.8,11.6,149,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1744,2520
$GC,1916,1.78,170.4,39.1,10.2,164,1921,0.00,2.67,0.00,0.000,4,0.000,0.069,3528,335,2519
$GC,2054,1.78,170.4,24.0,10.1,174,2059,0.00,2.45,0.00,0.000,6,0.000,0.031,3528,1740,2518
$GC,2257,1.79,176.1,7.4,9.0,200,2269,0.00,2.70,3.33,0.701,4,0.000,0.069,3528,341,2498
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,-0.3,1.011820
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2377,73.97,0.591,0,0,1790,350.04
$SM_GC,0.40,0.00,0.00,73.97,0.000,0.000,0.591,463,2132,1790,-12.29,0.20,350.04
$IRIDIUM_FIX,3233.95,-11750.64,161107,171752
$TT8_MAMPS,0.088972
$HUMID,1842
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,52.8
$24V_AH,23.8,28.650
$10V_AH,9.9,21.935
$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,31.700,36.775,268.125,73.975,0.000,37.774,40.258,192.939,0.500,6.090,2968.910,13.384,377.724,1237.629,417.847,425.047,426.662,33.342,683.116,0.000,397.738,0.000,5.493
$DEVICE_MAMPS,197.886,71.331,701.038,590.590,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.188,0.000,0.000,0.000,0.000,0.000,2695.150,2975.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6451,212
$CFSIZE,260034560,255463424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,152759,3246.264,-11749.873,11,2.8,30,13.1