version: 66.04
glider: 127
mission: 3
dive: 10
start: 3 26 109 3 15 42
data:
$ID,127
$MISSION,3
$DIVE,10
$D_SURF,3
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,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,-35262.586
$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,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$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,4
$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,10
$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
$GPS1,030759,4805.988,-12222.038,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.5
$GPS2,031452,4805.949,-12221.983,14,2.5,33,18.3
$SPEED_LIMITS,0.107,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.142
$KALMAN_X,653.2,155.7,-58.4,485.6,67.0
$KALMAN_Y,-233.6,-122.4,216.0,-3122.1,164.4
$MHEAD_RNG_PITCHd_Wd,297.7,4543,-16.6,-7.463
$D_GRID,150
$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,18,-1.31,-97.3,0.0,0.0,0,96,0.00,0.00,-75.60,0.000,2,0.000,0.000,390,2045,3409
$GC,100,-1.31,-97.3,3.4,-3.2,11,131,11.93,2.90,-13.85,0.000,4,0.175,0.091,2434,3557,3945
$GC,376,-1.31,-97.3,31.1,-10.9,60,383,0.00,2.58,0.00,0.000,6,0.000,0.064,2434,2157,3946
$GC,449,-1.31,-97.3,39.1,-10.6,73,456,0.00,2.65,0.00,0.000,4,0.000,0.081,2434,3555,3946
$GC,486,-1.31,-97.3,43.3,-11.0,79,493,0.00,2.55,0.00,0.000,6,0.000,0.064,2434,2148,3946
$GC,626,-1.31,-97.3,57.9,-10.2,104,633,0.00,2.65,0.00,0.000,4,0.000,0.081,2434,735,3946
$GC,680,-1.31,-97.3,63.6,-10.8,113,686,0.00,2.58,0.00,0.000,6,0.000,0.067,2434,2155,3946
$GC,819,-1.31,-97.3,77.6,-9.9,138,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2155,3946
$GC,960,-1.31,-97.3,91.7,-10.3,163,967,0.00,2.62,0.00,0.000,4,0.000,0.078,2434,738,3946
$GC,1007,-1.31,-97.3,96.5,-10.5,171,1014,0.00,2.58,0.00,0.000,6,0.000,0.067,2434,2161,3946
$GC,1146,-1.31,-97.3,110.3,-9.5,196,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2161,3946
$STATE,1209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1209,begin apogee
$GC,1216,-0.36,0.0,116.5,9.7,207,1301,1.02,0.00,79.43,0.778,6,0.104,0.000,2641,2256,3546
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1305,1.31,97.3,119.9,0.0,220,1390,1.75,2.72,78.43,0.772,4,0.077,0.080,3005,3661,3149
$GC,1427,1.36,139.0,116.2,5.3,239,1467,0.00,2.58,34.75,0.750,6,0.000,0.061,3005,2243,2979
$GC,1603,1.36,139.0,103.1,7.9,269,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2243,2979
$GC,1742,1.36,139.0,92.0,8.0,294,1750,0.00,2.67,0.00,0.000,4,0.000,0.079,3005,3655,2979
$GC,1796,1.36,139.0,87.4,8.7,303,1802,0.00,2.55,0.00,0.000,6,0.000,0.063,3005,2248,2979
$GC,1935,1.36,139.0,75.8,8.3,328,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2248,2979
$GC,2077,1.36,139.0,64.2,8.2,353,2083,0.00,2.62,0.00,0.000,4,0.000,0.079,3005,3655,2979
$GC,2113,1.36,139.0,61.0,8.8,359,2120,0.00,2.55,0.00,0.000,6,0.000,0.062,3005,2244,2979
$GC,2252,1.36,139.0,49.7,7.8,384,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2244,2979
$GC,2394,1.36,139.0,38.9,7.7,409,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2243,2979
$GC,2470,1.36,140.9,33.3,7.4,422,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2244,2979
$GC,2542,1.36,140.9,27.7,7.7,435,2550,0.00,2.65,0.00,0.000,4,0.000,0.080,3005,3648,2979
$GC,2559,1.36,140.9,26.5,7.5,437,2567,0.00,2.55,3.28,0.417,6,0.000,0.061,3005,2250,2970
$GC,2635,1.38,153.9,21.0,6.8,450,2657,0.00,2.67,12.05,0.662,4,0.000,0.078,3005,3649,2918
$GC,2717,1.38,153.9,14.5,7.9,464,2725,0.00,2.55,0.00,0.000,6,0.000,0.062,3005,2256,2918
$GC,2792,1.38,153.9,8.8,7.6,477,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2256,2918
$GC,2866,1.48,236.9,5.6,3.2,490,2937,0.20,0.00,66.20,0.707,6,0.071,0.000,3052,2256,2580
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,3.0,1.019216
$STATE,3036,end surface coast,CONTROL_FINISHED_OK
$STATE,3036,begin surface
$SM_CCo,3040,350.77,0.679,0,0,495,748.41
$SM_GC,0.98,12.32,0.00,0.00,0.055,0.000,0.000,392,2144,488,-10.69,-0.14,750.13
$RAFOS_CLK,192
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,200698,020244
$TT8_MAMPS,0.022243
$HUMID,1511
$INTERNAL_PRESSURE,9.07661
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,46.2
$24V_AH,23.6,1.270
$10V_AH,10.6,1.048
$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,27.225,47.550,274.125,350.775,0.000,28.292,27.586,192.841,0.500,0.000,0.000,34.439,801.612,731.484,689.002,1254.479,443.136,33.340,1218.298,0.000,1240.171,0.000,5.540,0.000
$DEVICE_MAMPS,174.876,90.506,777.738,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.994,360.084,898.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,518
$CAP_FILE_SIZE,56393,0
$CFSIZE,260165632,219021312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.8
$GPS,260309,041531,4806.071,-12222.137,42,1.4,42,18.3