version: 66.04
glider: 127
mission: 3
dive: 12
start: 3 26 109 5 26 59
data:
$ID,127
$MISSION,3
$DIVE,12
$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,-35297.602
$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,17
$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
$GPS1,051908,4806.229,-12222.290,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.3
$GPS2,052608,4806.203,-12222.278,15,1.1,15,18.3
$SPEED_LIMITS,0.107,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.158
$KALMAN_X,1477.9,44.7,-94.1,-557.1,345.2
$KALMAN_Y,-1189.6,78.2,273.0,-1954.4,-437.0
$MHEAD_RNG_PITCHd_Wd,305.1,3950,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-97.3,0.0,0.0,0,90,0.00,0.00,-69.15,0.000,2,0.000,0.000,390,2161,3272
$GC,94,-1.31,-97.3,3.1,-2.8,10,138,11.82,2.67,-21.00,0.000,4,0.171,0.092,2437,3555,3944
$GC,265,-1.31,-97.3,17.7,-10.2,39,272,0.00,2.60,0.00,0.000,6,0.000,0.064,2437,2143,3945
$GC,338,-1.31,-97.3,25.1,-10.3,52,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2143,3944
$GC,412,-1.31,-97.3,32.8,-10.5,65,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2143,3945
$GC,486,-1.31,-97.3,40.3,-10.3,78,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2143,3945
$GC,627,-1.31,-97.3,55.1,-10.7,103,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2143,3945
$GC,765,-1.31,-97.3,69.8,-10.6,128,772,0.00,2.62,0.00,0.000,4,0.000,0.081,2438,741,3945
$GC,800,-1.31,-97.3,73.6,-10.9,134,807,0.00,2.58,0.00,0.000,6,0.000,0.068,2437,2141,3945
$GC,945,-1.31,-97.3,88.5,-10.0,159,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2142,3945
$GC,1083,-1.31,-97.3,102.5,-10.0,184,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2141,3944
$GC,1225,-1.31,-97.3,116.3,-9.7,209,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2142,3945
$STATE,1236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1236,begin apogee
$GC,1243,-0.36,0.0,117.7,9.8,211,1327,1.00,0.00,79.18,0.792,6,0.103,0.000,2640,2263,3546
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1331,1.31,97.3,121.2,0.0,224,1416,1.75,2.70,78.40,0.764,4,0.076,0.080,3005,3656,3149
$GC,1464,1.34,128.1,116.8,5.9,245,1497,0.00,2.55,26.27,0.741,6,0.000,0.061,3004,2249,3023
$GC,1632,1.34,128.1,104.5,7.8,274,1640,0.00,2.67,0.00,0.000,4,0.000,0.079,3005,3659,3023
$GC,1686,1.34,128.1,100.1,8.3,283,1693,0.00,2.55,0.00,0.000,6,0.000,0.062,3005,2250,3023
$GC,1826,1.34,128.1,89.1,7.7,308,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2250,3023
$GC,1967,1.34,128.1,78.4,7.6,333,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2250,3023
$GC,2106,1.34,128.1,68.2,7.5,358,2113,0.00,2.65,0.00,0.000,4,0.000,0.079,3005,3653,3023
$GC,2160,1.34,128.1,64.0,8.1,367,2166,0.00,2.55,0.00,0.000,6,0.000,0.062,3005,2242,3023
$GC,2299,1.34,128.1,53.2,7.6,392,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2243,3023
$GC,2442,1.34,128.1,42.9,7.5,417,2448,0.00,2.60,0.00,0.000,4,0.000,0.079,3005,829,3023
$GC,2467,1.34,128.1,40.9,7.5,421,2473,0.00,2.58,0.00,0.000,6,0.000,0.066,3005,2251,3023
$GC,2603,1.35,132.9,31.2,7.2,446,2618,0.00,2.65,5.55,0.585,4,0.000,0.080,3005,3655,3004
$GC,2657,1.35,132.9,27.0,8.0,455,2665,0.00,2.58,0.00,0.000,6,0.000,0.062,3005,2246,3004
$GC,2732,1.36,142.8,21.7,6.9,468,2746,0.00,0.00,9.65,0.670,6,0.000,0.000,3004,2246,2963
$GC,2814,1.37,148.5,16.0,7.2,482,2829,0.00,2.70,6.03,0.595,4,0.000,0.080,3005,3658,2940
$GC,2868,1.37,148.5,11.9,7.6,491,2875,0.00,2.58,0.00,0.000,6,0.000,0.062,3005,2252,2940
$GC,2942,1.39,163.6,6.8,6.7,504,2965,0.00,2.67,13.35,0.690,4,0.000,0.078,3005,841,2879
$STATE,3163,end climb,NO_VERTICAL_VELOCITY
$STATE,3163,begin surface
$SM_CCo,3167,405.95,0.671,0,0,494,748.41
$SM_GC,0.93,12.02,0.00,0.00,0.052,0.000,0.000,393,2160,487,-10.68,0.28,750.37
$RAFOS_CLK,200
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12217.40,200698,040428
$TT8_MAMPS,0.022243
$HUMID,1514
$INTERNAL_PRESSURE,9.07661
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,46.5
$24V_AH,23.6,1.515
$10V_AH,10.7,1.190
$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,26.600,47.150,218.425,405.950,0.000,25.992,31.715,214.305,0.500,0.000,0.000,15.929,850.838,770.988,721.123,1298.235,472.436,33.329,1257.715,0.000,1304.003,400.000,5.542,0.000
$DEVICE_MAMPS,171.041,92.040,791.544,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.856,380.519,948.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31826,544
$CAP_FILE_SIZE,58253,0
$CFSIZE,260165632,218939392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1477.0
$GPS,260309,062936,4806.468,-12222.474,14,1.6,24,18.3