version: 66.02
glider: 118
mission: 7
dive: 67
start: 11 17 107 14 30 21
data:
$ID,118
$MISSION,7
$DIVE,67
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,60
$T_MISSION,120
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51796
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,-117.8
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18413.943
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2670
$C_ROLL_CLIMB,2565
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3188
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,750
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.5449471
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,141826,3246.164,-11746.595,42,1.1,42,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.3
$GPS2,142927,3246.085,-11746.649,14,1.1,14,13.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,H3
$TGT_LATLONG,3246.000,-11746.810
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.060,0.183
$KALMAN_X,3852.1,-114.3,91.2,-2448.8,-206.1
$KALMAN_Y,-10183.5,-46.5,-52.4,10569.6,-299.0
$MHEAD_RNG_PITCHd_Wd,328.8,295,-28.0,-11.111
$D_GRID,200
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-2.89,-73.8,0.0,0.0,0,85,0.00,0.00,-46.67,0.000,2,0.000,0.000,424,2658,2986
$GC,90,-2.96,-135.4,2.0,-4.9,8,127,10.82,2.45,-20.27,0.000,4,0.153,0.053,2373,1275,3742
$GC,188,-2.96,-135.4,17.6,-20.6,23,194,0.00,2.42,0.00,0.000,6,0.000,0.032,2373,2679,3745
$GC,265,-2.96,-135.4,31.7,-17.3,30,269,0.00,2.30,0.00,0.000,4,0.000,0.067,2373,3930,3745
$GC,431,-2.96,-135.4,58.5,-17.1,42,435,0.00,2.15,0.00,0.000,6,0.000,0.031,2373,2663,3746
$GC,628,-2.96,-135.4,89.7,-15.5,57,633,0.00,2.33,0.00,0.000,4,0.000,0.063,2373,3927,3748
$GC,803,-2.96,-135.4,118.5,-17.3,70,808,0.00,2.15,0.00,0.000,6,0.000,0.031,2373,2656,3748
$GC,1007,-2.96,-135.4,151.3,-15.9,86,1011,0.00,2.35,0.00,0.000,4,0.000,0.064,2373,3927,3749
$GC,1148,-2.96,-135.4,175.2,-16.6,96,1152,0.00,2.15,0.00,0.000,6,0.000,0.031,2373,2669,3749
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1313,-0.50,0.0,200.3,15.4,108,1428,2.62,0.00,106.95,0.646,6,0.102,0.000,2910,2557,3187
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1461,2.96,135.4,204.0,0.0,118,1574,3.38,2.62,103.15,0.632,4,0.048,0.064,3679,3926,2635
$GC,1829,2.96,135.4,151.2,17.6,146,1835,0.00,2.33,0.00,0.000,6,0.000,0.031,3679,2566,2633
$GC,2026,2.96,135.4,119.7,16.4,162,2030,0.00,2.53,0.00,0.000,4,0.000,0.064,3679,3926,2632
$GC,2284,2.96,135.4,76.3,17.5,181,2289,0.00,2.35,0.00,0.000,6,0.000,0.031,3679,2567,2631
$GC,2488,2.96,135.4,48.7,13.9,197,2492,0.00,2.53,0.00,0.000,4,0.000,0.064,3679,3931,2630
$GC,2746,3.01,175.7,19.3,7.1,216,2783,0.00,2.33,29.05,0.557,6,0.000,0.032,3679,2548,2470
$GC,2851,3.01,178.1,9.6,10.9,232,2857,0.00,2.55,0.00,0.000,4,0.000,0.061,3679,3934,2469
$STATE,2914,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FINISH,0.1,1.024264
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2977,85.68,0.520,1,0,1760,350.04
$SM_GC,0.60,0.00,0.00,85.68,0.000,0.000,0.520,424,2669,1760,-11.94,-0.03,350.04
$IRIDIUM_FIX,3233.95,-11744.92,171107,171745
$TT8_MAMPS,0.113516
$HUMID,1712
$INTERNAL_PRESSURE,9.1835
$TCM_TEMP,20.30
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,175.2,999.0
$24V_AH,24.0,54.039
$10V_AH,10.0,42.862
$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,31.375,37.875,239.150,85.675,0.000,40.848,28.017,278.397,19.250,29.060,3843.940,14.374,447.096,1564.971,388.509,575.008,730.165,33.349,716.288,0.000,546.900,0.000,24.074
$DEVICE_MAMPS,153.400,66.729,645.814,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.819,0.000,0.000,0.000,0.000,0.000,0.000,3873.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,115.307,51.000
$DATA_FILE_SIZE,6441,244
$CFSIZE,260034560,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171107,152233,3245.802,-11746.807,13,1.4,13,13.1