version: 66.02
glider: 118
mission: 7
dive: 70
start: 11 17 107 18 12 23
data:
$ID,118
$MISSION,7
$DIVE,70
$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,-18372.1
$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,48
$R_STBD_OVSHOOT,24
$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
$GPS1,175703,3246.149,-11746.905,10,1.2,10,13.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-62.0
$GPS2,181133,3246.091,-11746.969,15,1.1,15,13.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,H3
$TGT_LATLONG,3246.000,-11746.810
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.174,0.081
$KALMAN_X,3046.3,-86.8,-19.8,-2055.4,-222.3
$KALMAN_Y,-12313.3,-62.9,-244.7,12915.4,-384.5
$MHEAD_RNG_PITCHd_Wd,51.9,300,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,40,-2.89,-73.8,0.0,0.0,0,95,0.00,0.00,-52.58,0.000,2,0.000,0.000,424,2661,3166
$GC,100,-2.94,-118.9,2.5,-6.6,9,131,10.90,2.47,-12.02,0.000,4,0.151,0.054,2375,1269,3677
$GC,382,-2.94,-118.9,57.1,-16.5,37,388,0.00,2.42,0.00,0.000,6,0.000,0.031,2375,2681,3680
$GC,579,-2.94,-118.9,88.1,-15.5,53,583,0.00,2.47,0.00,0.000,4,0.000,0.041,2375,1280,3682
$GC,817,-2.94,-118.9,124.8,-16.7,70,823,0.00,2.40,0.00,0.000,6,0.000,0.032,2375,2668,3683
$GC,1014,-2.94,-118.9,155.6,-16.2,86,1019,0.00,2.45,0.00,0.000,4,0.000,0.041,2375,1279,3683
$GC,1102,-2.94,-118.9,169.3,-15.4,92,1107,0.00,2.50,0.00,0.000,6,0.000,0.033,2375,2675,3683
$GC,1306,-2.94,-118.9,199.4,-15.0,108,1311,0.00,2.47,0.00,0.000,4,0.000,0.042,2375,1279,3683
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1327,-0.50,0.0,201.5,14.9,109,1430,2.65,0.00,94.40,0.649,6,0.110,0.000,2907,2576,3188
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1462,2.94,118.9,205.6,0.0,118,1563,3.38,2.58,90.78,0.637,4,0.047,0.067,3677,3926,2702
$GC,1599,2.94,118.9,193.4,16.0,129,1604,0.00,2.35,0.00,0.000,6,0.000,0.030,3678,2559,2701
$GC,1797,2.94,118.9,161.3,16.9,144,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2554,2700
$GC,1986,2.94,118.9,132.1,15.4,159,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2554,2699
$GC,2175,2.94,118.9,103.0,15.4,174,2179,0.00,2.47,0.00,0.000,4,0.000,0.051,3678,1184,2699
$GC,2333,2.94,118.9,80.5,13.6,185,2340,0.00,2.40,0.00,0.000,6,0.000,0.035,3678,2562,2699
$GC,2530,2.94,118.9,56.0,12.2,201,2535,0.00,2.60,0.00,0.000,4,0.000,0.071,3678,3928,2697
$GC,2558,2.94,118.9,52.8,11.6,203,2562,0.00,2.35,0.00,0.000,6,0.000,0.031,3678,2561,2697
$GC,2756,2.97,142.7,33.6,8.7,218,2781,0.00,2.62,16.42,0.576,4,0.000,0.064,3678,3933,2605
$GC,2809,3.00,167.0,29.0,8.7,222,2833,0.00,2.35,17.90,0.565,6,0.000,0.031,3678,2557,2506
$GC,3033,3.00,167.0,4.4,12.2,248,3039,0.00,2.55,0.00,0.000,4,0.000,0.063,3678,3932,2504
$STATE,3050,end climb,SURFACE_DEPTH_REACHED
$STATE,3050,begin surface coast
$FINISH,-0.1,1.024213
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3109,91.38,0.524,2,0,1761,350.04
$SM_GC,0.73,0.00,0.00,91.38,0.000,0.000,0.524,427,2671,1761,-11.93,0.03,350.04
$IRIDIUM_FIX,3233.95,-11722.01,171107,202010
$TT8_MAMPS,0.11505
$HUMID,1706
$INTERNAL_PRESSURE,9.1835
$TCM_TEMP,20.20
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,175.2,999.0
$24V_AH,23.6,54.401
$10V_AH,10.0,43.175
$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,31.500,43.975,219.500,91.375,0.000,37.768,28.640,436.606,19.250,145.373,4013.627,15.796,459.768,1719.950,391.072,545.002,937.924,33.346,708.348,0.000,513.991,0.000,24.077
$DEVICE_MAMPS,151.099,71.331,648.882,523.861,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.109,0.000,0.000,0.000,0.000,0.000,3593.770,4159.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,115.307,51.000
$DATA_FILE_SIZE,6449,253
$CFSIZE,260034560,253374464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171107,190657,3246.183,-11746.827,12,1.1,12,13.1