version: 66.02
glider: 118
mission: 7
dive: 4
start: 11 14 107 20 19 17
data:
$ID,118
$MISSION,7
$DIVE,4
$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,35
$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,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,400
$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,-18646.312
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2570
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3188
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,2
$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
$GPS1,201027,3246.304,-11747.903,10,2.0,10,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-60.3
$GPS2,201827,3246.335,-11747.889,13,2.0,13,13.1
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,H1
$TGT_LATLONG,3246.000,-11748.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,-0.250
$KALMAN_X,50.6,22.7,8.5,-635.9,15.8
$KALMAN_Y,613.4,454.9,360.4,-686.3,175.4
$MHEAD_RNG_PITCHd_Wd,179.1,645,-17.5,-9.524
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-1.93,-146.1,0.0,0.0,0,99,0.00,0.00,-65.45,0.000,2,0.000,0.000,426,2550,3087
$GC,104,-1.93,-146.1,2.2,-5.9,11,141,11.82,2.45,-17.33,0.000,4,0.151,0.061,2574,1181,3786
$GC,367,-1.90,-146.1,36.4,-12.9,42,371,0.00,2.42,0.00,0.000,6,0.000,0.038,2574,2577,3788
$GC,565,-1.87,-146.1,62.1,-12.3,57,569,0.00,2.50,0.00,0.000,4,0.000,0.067,2574,3934,3789
$GC,651,-1.83,-146.1,73.0,-13.1,63,658,0.12,2.30,0.00,0.000,6,0.107,0.035,2599,2561,3790
$GC,848,-1.83,-146.1,93.1,-9.9,79,852,0.00,2.50,0.00,0.000,4,0.000,0.066,2597,3930,3791
$GC,909,-1.83,-146.1,99.2,-10.0,83,913,0.00,2.30,0.00,0.000,6,0.000,0.037,2597,2582,3791
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,938,-0.50,0.0,101.2,9.7,84,1053,1.40,0.00,111.57,0.565,6,0.091,0.000,2885,2415,3188
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1058,1.93,146.1,104.9,0.0,94,1174,2.45,0.00,109.15,0.555,6,0.061,0.000,3422,2414,2592
$GC,1364,1.95,183.8,84.7,7.9,119,1401,0.00,2.75,27.80,0.556,4,0.000,0.065,3422,3815,2438
$GC,1641,1.95,183.8,57.7,11.0,140,1646,0.00,2.40,0.00,0.000,6,0.000,0.035,3422,2441,2437
$GC,1839,1.98,200.3,38.9,8.8,155,1852,0.00,0.00,11.95,0.557,6,0.000,0.000,3421,2435,2370
$GC,2042,1.99,210.9,21.0,9.1,171,2055,0.00,2.70,7.45,0.563,4,0.000,0.066,3422,3816,2327
$STATE,2218,end climb,SURFACE_DEPTH_REACHED
$STATE,2218,begin surface coast
$FINISH,-0.1,1.000572
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2276,87.10,0.507,0,0,1557,400.08
$SM_GC,0.78,0.00,0.00,87.10,0.000,0.000,0.507,429,2548,1557,-11.83,-0.62,400.08
$IRIDIUM_FIX,3233.95,-11748.38,141107,232302
$TT8_MAMPS,0.067496
$HUMID,1743
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,20.80
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,75.4,999.0
$24V_AH,23.3,47.887
$10V_AH,10.1,37.215
$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,29.275,24.800,267.925,87.100,0.000,38.616,34.507,208.529,7.500,166.010,2804.990,13.480,377.058,1110.387,422.527,388.285,555.276,32.325,671.283,0.000,391.501,0.000,8.673
$DEVICE_MAMPS,151.099,67.496,565.279,506.987,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,136.705,0.000,0.000,0.000,0.000,0.000,0.000,2971.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6431,200
$CFSIZE,260034560,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141107,210007,3246.234,-11747.742,37,1.1,37,13.1