version: 66.02
glider: 118
mission: 7
dive: 72
start: 11 17 107 20 31 29
data:
$ID,118
$MISSION,7
$DIVE,72
$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,-18370.988
$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,42
$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
$GPS1,201707,3245.836,-11746.566,27,1.3,27,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-61.4
$GPS2,203039,3245.749,-11746.597,11,1.4,11,13.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,H3
$TGT_LATLONG,3246.000,-11746.810
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.032,0.190
$KALMAN_X,2523.7,-87.4,-168.4,-809.1,-221.5
$KALMAN_Y,-13029.9,-101.4,-112.5,12911.8,-185.8
$MHEAD_RNG_PITCHd_Wd,337.3,571,-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,-46.60,0.000,2,0.000,0.000,426,2676,2986
$GC,90,-2.95,-127.7,2.1,-5.7,8,127,10.85,2.47,-19.67,0.000,4,0.152,0.052,2373,1277,3711
$GC,345,-2.95,-127.7,49.3,-17.4,35,352,0.00,2.53,0.00,0.000,6,0.000,0.031,2373,2679,3715
$GC,542,-2.95,-127.7,82.2,-16.4,51,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2679,3716
$GC,731,-2.95,-127.7,112.6,-15.8,66,736,0.00,2.50,0.00,0.000,4,0.000,0.045,2373,1269,3718
$GC,771,-2.95,-127.7,118.8,-15.1,68,777,0.00,2.42,0.00,0.000,6,0.000,0.032,2373,2675,3719
$GC,968,-2.95,-127.7,148.4,-15.2,84,972,0.00,2.47,0.00,0.000,4,0.000,0.041,2373,1279,3718
$GC,1034,-2.95,-127.7,158.6,-15.4,88,1040,0.00,2.40,0.00,0.000,6,0.000,0.033,2373,2677,3719
$GC,1231,-2.95,-127.7,188.0,-15.2,104,1235,0.00,2.38,0.00,0.000,4,0.000,0.068,2373,3934,3718
$GC,1297,-2.95,-127.7,198.9,-16.6,108,1303,0.00,2.17,0.00,0.000,6,0.000,0.040,2376,2655,3718
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1324,-0.50,0.0,201.8,15.9,110,1432,2.65,0.00,101.22,0.645,6,0.102,0.000,2907,2559,3188
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1459,2.95,127.7,205.8,0.0,119,1568,3.38,0.00,97.45,0.634,6,0.047,0.000,3675,2559,2667
$GC,1758,2.95,127.7,167.2,16.4,143,1762,0.00,2.55,0.00,0.000,4,0.000,0.066,3675,3923,2665
$GC,1943,2.95,127.7,134.3,18.0,156,1949,0.00,2.35,0.00,0.000,6,0.000,0.031,3675,2559,2664
$GC,2141,2.95,127.7,101.3,16.4,172,2145,0.00,2.55,0.00,0.000,4,0.000,0.063,3675,3932,2663
$GC,2273,2.95,127.7,78.8,17.1,181,2279,0.00,2.35,0.00,0.000,6,0.000,0.031,3675,2558,2663
$GC,2470,2.95,127.7,51.6,13.0,197,2475,0.00,2.55,0.00,0.000,4,0.000,0.064,3674,3925,2662
$GC,2573,2.95,127.7,39.1,12.1,204,2577,0.00,2.35,0.00,0.000,6,0.000,0.031,3675,2555,2662
$GC,2771,2.98,151.1,18.9,8.8,220,2795,0.00,2.53,16.55,0.563,4,0.000,0.053,3675,1186,2571
$GC,2889,3.00,166.5,8.5,9.6,238,2908,0.00,2.53,11.12,0.558,6,0.000,0.035,3675,2567,2508
$STATE,2951,end climb,SURFACE_DEPTH_REACHED
$STATE,2951,begin surface coast
$FINISH,-0.2,1.024248
$STATE,2972,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,3026,91.03,0.520,2,0,1760,350.04
$SM_GC,0.60,0.00,0.00,91.03,0.000,0.000,0.520,425,2671,1760,-11.93,0.03,350.04
$IRIDIUM_FIX,3231.39,-11747.18,171107,232359
$TT8_MAMPS,0.115817
$HUMID,1693
$INTERNAL_PRESSURE,9.17374
$TCM_TEMP,20.30
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,176.5,999.0
$24V_AH,23.1,54.699
$10V_AH,10.0,43.379
$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,31.525,39.400,226.350,91.025,0.000,37.621,23.692,386.044,18.250,278.099,3782.901,15.191,451.103,1652.481,401.216,525.589,880.753,33.349,712.082,0.000,506.194,0.000,24.060
$DEVICE_MAMPS,151.866,68.263,645.047,520.026,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,172.656,0.000,0.000,0.000,0.000,0.000,3465.710,4061.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,115.307,51.000
$DATA_FILE_SIZE,6423,251
$CFSIZE,260034560,253214720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171107,212439,3245.906,-11746.814,12,1.5,12,13.1