version: 66.04
glider: 127
mission: 3
dive: 6
start: 3 25 109 23 25 45
data:
$ID,127
$MISSION,3
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52100
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.083332
$TGT_DEFAULT_LON,5.541666
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35158.648
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,20
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3546
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.99226505
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.84
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043795076
$SEABIRD_T_H,0.00064694096
$SEABIRD_T_I,2.6645228e-05
$SEABIRD_T_J,2.8767208e-06
$SEABIRD_C_G,-9.9956007
$SEABIRD_C_H,1.1262144
$SEABIRD_C_I,-0.00093594857
$SEABIRD_C_J,0.00015392013
$GPS1,231856,4806.835,-12222.714,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-54.1
$GPS2,232450,4806.788,-12222.756,14,1.9,14,18.3
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,-0.177
$KALMAN_X,302.5,182.8,93.6,-296.3,2.1
$KALMAN_Y,-465.6,-278.2,-138.3,-831.5,-33.7
$MHEAD_RNG_PITCHd_Wd,127.0,1733,-21.8,-10.000
$D_GRID,105
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.67,-97.3,0.0,0.0,0,136,0.00,0.00,-117.00,0.000,2,0.000,0.000,392,2044,3458
$GC,140,-1.67,-97.3,3.6,-5.5,17,170,11.27,2.65,-10.68,0.000,4,0.169,0.091,2356,641,3945
$GC,269,-1.67,-97.3,19.9,-10.0,39,276,0.00,2.60,0.00,0.000,6,0.000,0.068,2356,2052,3946
$GC,341,-1.67,-97.3,28.5,-12.1,52,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2052,3946
$GC,414,-1.67,-97.3,37.7,-13.3,65,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2052,3947
$GC,487,-1.67,-97.3,48.2,-14.2,78,494,0.00,2.62,0.00,0.000,4,0.000,0.080,2356,3454,3947
$GC,508,-1.67,-97.3,51.0,-14.1,81,514,0.00,2.55,0.00,0.000,6,0.000,0.065,2356,2050,3947
$GC,648,-1.67,-97.3,71.3,-14.7,106,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2050,3947
$GC,792,-1.67,-97.3,91.8,-13.9,131,798,0.00,2.62,0.00,0.000,4,0.000,0.078,2356,3459,3947
$GC,810,-1.67,-97.3,94.7,-14.4,134,817,0.00,2.58,0.00,0.000,6,0.000,0.064,2357,2054,3947
$STATE,884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,884,begin apogee
$GC,891,-0.36,0.0,105.2,13.6,147,974,1.45,0.00,79.05,0.772,6,0.115,0.000,2640,2054,3545
$STATE,975,end apogee,CONTROL_FINISHED_OK
$STATE,975,begin climb
$GC,978,1.67,97.3,109.5,0.0,160,1062,2.12,0.00,78.03,0.760,6,0.076,0.000,3085,2053,3149
$GC,1199,1.71,124.5,97.6,8.1,197,1230,0.00,2.70,23.15,0.726,4,0.000,0.077,3085,3457,3038
$GC,1315,1.71,124.5,86.3,10.2,217,1322,0.00,2.58,0.00,0.000,6,0.000,0.064,3085,2046,3038
$GC,1455,1.73,142.6,73.1,8.7,242,1477,0.00,2.72,16.12,0.706,4,0.000,0.076,3085,3459,2965
$GC,1556,1.73,142.6,62.7,11.2,259,1562,0.00,2.58,0.00,0.000,6,0.000,0.064,3085,2047,2964
$GC,1695,1.73,142.6,48.1,10.0,284,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2046,2964
$GC,1835,1.73,142.6,33.8,11.0,309,1842,0.00,2.65,0.00,0.000,4,0.000,0.077,3085,3455,2964
$GC,2090,1.73,144.7,7.1,9.9,355,2099,0.00,2.58,3.30,0.412,6,0.000,0.064,3085,2052,2956
$GC,2165,1.90,285.1,5.9,0.3,368,2287,0.22,2.65,112.65,0.705,4,0.071,0.081,3137,641,2381
$STATE,2320,end climb,SURFACE_DEPTH_REACHED
$STATE,2320,begin surface coast
$FINISH,2.9,1.018484
$STATE,2481,end surface coast,CONTROL_FINISHED_OK
$STATE,2481,begin surface
$SM_CCo,2508,142.70,0.667,3,0,1507,500.17
$SM_GC,1.22,0.00,0.00,142.70,0.000,0.000,0.667,388,2054,1507,-10.75,0.11,500.17
$RAFOS_CLK,138
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,190698,222227
$TT8_MAMPS,0.02301
$HUMID,1530
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,44.2
$24V_AH,23.6,0.810
$10V_AH,10.7,0.785
$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,Compass2
$DEVICE_SECS,28.000,36.650,312.300,142.700,0.000,22.174,25.237,173.895,0.500,0.000,0.000,14.431,628.808,485.987,513.893,1031.003,373.171,33.321,983.128,0.000,1030.986,0.000,5.535,0.000
$DEVICE_MAMPS,168.740,91.273,771.602,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.327,312.499,780.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22227,421
$CAP_FILE_SIZE,44485,0
$CFSIZE,260165632,219172864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1475.5
$GPS,260309,001108,4806.681,-12222.495,12,1.9,12,18.3