version: 66.02
glider: 118
mission: 7
dive: 16
start: 11 15 107 6 9 54
data:
$ID,118
$MISSION,7
$DIVE,16
$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,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,-18634.039
$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,2670
$C_ROLL_CLIMB,2565
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,24
$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,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
$GPS1,055702,3246.055,-11746.797,14,1.6,31,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-62.2
$GPS2,060903,3246.014,-11746.815,16,1.1,16,13.1
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,H3
$TGT_LATLONG,3246.000,-11746.810
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.018
$KALMAN_X,2032.9,318.9,69.6,-1301.8,-44.3
$KALMAN_Y,1310.5,162.4,-206.7,-1110.6,-33.5
$MHEAD_RNG_PITCHd_Wd,70.5,27,-27.8,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,39,-2.85,-58.6,0.0,0.0,0,94,0.00,0.00,-52.47,0.000,2,0.000,0.000,426,2676,3185
$GC,99,-2.88,-78.9,2.5,-7.3,9,124,10.88,2.33,-7.38,0.000,4,0.157,0.077,2369,3937,3511
$GC,376,-2.82,-78.9,56.5,-16.6,37,380,0.00,2.12,0.00,0.000,6,0.000,0.032,2369,2668,3514
$GC,574,-2.79,-78.9,85.6,-14.0,52,578,0.12,2.30,0.00,0.000,4,0.127,0.061,2391,3931,3516
$STATE,671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,671,begin apogee
$GC,682,-0.50,0.0,100.7,14.9,59,748,2.47,0.00,60.78,0.574,6,0.108,0.000,2888,2569,3189
$STATE,760,end apogee,CONTROL_FINISHED_OK
$STATE,760,begin climb
$GC,764,2.88,78.9,104.3,0.0,65,837,3.35,2.55,59.08,0.565,4,0.057,0.049,3633,1165,2866
$GC,858,2.91,105.8,100.1,6.6,72,883,0.00,2.45,19.73,0.569,6,0.000,0.035,3633,2569,2756
$GC,1073,2.91,105.8,76.5,10.9,89,1077,0.00,2.53,0.00,0.000,4,0.000,0.051,3633,1166,2755
$GC,1166,2.92,113.6,67.4,8.7,95,1176,0.00,2.40,5.30,0.591,6,0.000,0.035,3633,2555,2725
$GC,1376,2.92,118.7,48.1,9.0,112,1381,0.00,0.00,3.60,0.604,6,0.000,0.000,3635,2556,2704
$GC,1575,2.95,139.1,33.0,7.3,127,1599,0.00,2.62,14.62,0.560,4,0.000,0.067,3633,3934,2619
$GC,1819,2.97,153.1,12.2,8.0,153,1837,0.00,2.40,9.50,0.558,6,0.000,0.035,3633,2526,2563
$GC,1905,2.99,153.1,4.5,9.8,166,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,2526,2563
$STATE,1930,end climb,SURFACE_DEPTH_REACHED
$STATE,1930,begin surface coast
$FINISH,-0.1,1.024179
$STATE,1948,end surface coast,CONTROL_FINISHED_OK
$STATE,1948,begin surface
$SM_CCo,2004,101.12,0.512,1,0,1761,350.04
$SM_GC,0.55,0.00,0.00,101.12,0.000,0.000,0.512,425,2685,1761,-11.85,0.42,350.04
$IRIDIUM_FIX,3233.95,-11747.18,151107,090959
$TT8_MAMPS,0.088205
$HUMID,1668
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,20.90
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,76.7,999.0
$24V_AH,23.8,48.818
$10V_AH,9.8,38.057
$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,31.125,24.325,172.600,101.125,0.000,38.747,32.427,382.329,12.250,0.000,2964.000,16.014,333.174,1000.331,340.322,379.387,769.631,33.327,571.851,0.000,359.235,0.000,8.672
$DEVICE_MAMPS,157.235,77.467,604.396,512.356,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,118.234,0.000,0.000,0.000,0.000,0.000,2700.930,2964.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,24.391,51.000
$DATA_FILE_SIZE,3295,173
$CFSIZE,260034560,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151107,064608,3246.017,-11746.683,8,1.0,13,13.1