version: 66.02
glider: 118
mission: 7
dive: 73
start: 11 17 107 21 47 22
data:
$ID,118
$MISSION,7
$DIVE,73
$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,-18376.16
$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,47
$R_STBD_OVSHOOT,25
$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
$GPS1,212439,3245.906,-11746.814,12,1.5,12,13.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-62.2
$GPS2,214632,3245.765,-11746.841,31,1.7,31,13.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,H3
$TGT_LATLONG,3246.000,-11746.810
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.041,0.196
$KALMAN_X,2327.3,-106.8,-213.8,-926.1,-98.2
$KALMAN_Y,-13757.4,-109.7,-6.0,13573.7,-276.6
$MHEAD_RNG_PITCHd_Wd,358.6,438,-27.0,-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,-2.80,-79.3,0.0,0.0,0,89,0.00,0.00,-46.67,0.000,2,0.000,0.000,425,2673,3004
$GC,94,-2.87,-142.2,2.0,-5.2,8,131,10.95,2.47,-20.08,0.000,4,0.151,0.051,2389,1276,3770
$GC,383,-2.87,-142.2,53.1,-18.0,38,388,0.00,2.45,0.00,0.000,6,0.000,0.031,2389,2682,3774
$GC,580,-2.87,-142.2,86.8,-17.3,53,585,0.00,2.47,0.00,0.000,4,0.000,0.041,2388,1278,3776
$GC,693,-2.87,-142.2,106.1,-16.7,61,698,0.00,2.45,0.00,0.000,6,0.000,0.033,2389,2668,3777
$GC,897,-2.87,-142.2,138.5,-16.0,77,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2668,3777
$GC,1086,-2.87,-142.2,169.0,-16.0,92,1095,0.00,2.47,0.00,0.000,4,0.000,0.043,2389,1282,3777
$GC,1142,-2.87,-142.2,178.0,-16.0,96,1146,0.00,2.45,0.00,0.000,6,0.000,0.035,2389,2672,3777
$STATE,1285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1295,-0.50,0.0,200.6,15.4,107,1413,2.55,0.00,112.30,0.640,6,0.098,0.000,2910,2559,3188
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1428,2.87,142.2,205.1,0.0,117,1544,3.30,0.00,109.03,0.626,6,0.047,0.000,3661,2559,2608
$GC,1732,2.87,142.2,163.3,18.1,141,1737,0.00,2.55,0.00,0.000,4,0.000,0.068,3661,3928,2606
$GC,1886,2.87,142.2,133.8,18.6,152,1890,0.00,2.35,0.00,0.000,6,0.000,0.031,3661,2558,2605
$GC,2082,2.87,142.2,100.4,16.6,167,2087,0.00,2.58,0.00,0.000,4,0.000,0.065,3661,3935,2604
$GC,2122,2.87,142.2,93.4,17.1,169,2128,0.00,2.35,0.00,0.000,6,0.000,0.031,3661,2559,2604
$GC,2320,2.87,142.2,64.2,14.2,185,2324,0.00,2.47,0.00,0.000,4,0.000,0.051,3661,1186,2603
$GC,2412,2.87,142.2,51.4,14.3,191,2419,0.00,2.42,0.00,0.000,6,0.000,0.035,3661,2568,2602
$GC,2610,2.88,146.9,27.5,10.7,207,2617,0.00,2.58,2.12,0.645,4,0.000,0.048,3661,1180,2588
$GC,2771,2.90,163.6,11.9,9.5,225,2789,0.00,2.45,12.73,0.561,6,0.000,0.035,3662,2573,2519
$GC,2857,2.92,177.5,3.7,9.8,238,2875,0.00,2.58,9.75,0.561,4,0.000,0.067,3661,3922,2464
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,-0.1,1.011908
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2894,begin surface
$SM_CCo,2940,84.30,0.518,0,0,1761,350.04
$SM_GC,0.64,0.00,0.00,84.30,0.000,0.000,0.518,427,2667,1761,-11.93,-0.08,350.04
$IRIDIUM_FIX,3233.95,-11748.38,181107,010132
$TT8_MAMPS,0.112749
$HUMID,1692
$INTERNAL_PRESSURE,9.17374
$TCM_TEMP,20.30
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,176.0,999.0
$24V_AH,23.2,54.864
$10V_AH,10.0,43.479
$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,31.425,39.475,245.925,84.300,0.000,115.685,126.912,539.647,17.750,207.550,4256.450,31.661,443.841,1713.202,400.341,532.746,1218.577,33.345,700.011,0.000,485.283,0.000,24.069
$DEVICE_MAMPS,151.099,68.263,645.047,518.492,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,167.663,0.000,0.000,0.000,0.000,0.000,0.000,4464.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,115.307,51.000
$DATA_FILE_SIZE,6451,244
$CFSIZE,260034560,253124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171107,223907,3245.882,-11746.974,13,0.9,30,13.1