version: 66.04
glider: 127
mission: 3
dive: 16
start: 3 26 109 9 58 29
data:
$ID,127
$MISSION,3
$DIVE,16
$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,-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,530
$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,-35407.742
$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,2200
$C_ROLL_CLIMB,23500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,15
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,095037,4807.000,-12223.023,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.6
$GPS2,095738,4806.988,-12222.988,16,1.7,16,18.3
$SPEED_LIMITS,0.107,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,0.164
$KALMAN_X,1869.6,-40.0,78.4,-1917.6,-5.7
$KALMAN_Y,-1286.1,119.1,-242.9,73.1,6.3
$MHEAD_RNG_PITCHd_Wd,308.2,2253,-16.6,-7.463
$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,17,-1.31,-97.3,0.0,0.0,0,137,0.00,0.00,-117.68,0.000,2,0.000,0.000,389,2199,3460
$GC,141,-1.31,-97.3,3.8,-3.6,17,172,12.00,2.65,-12.35,0.000,4,0.177,0.092,2434,3618,3943
$GC,192,-1.31,-97.3,8.1,-6.8,24,199,0.00,2.60,0.00,0.000,6,0.000,0.064,2434,2199,3943
$GC,266,-1.31,-97.3,13.7,-8.6,37,273,0.00,2.65,0.00,0.000,4,0.000,0.081,2433,791,3943
$GC,347,-1.31,-97.3,21.2,-9.4,51,354,0.00,2.60,0.00,0.000,6,0.000,0.068,2434,2199,3944
$GC,420,-1.31,-97.3,28.7,-10.0,64,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2199,3944
$GC,492,-1.31,-97.3,36.0,-10.0,77,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2199,3944
$GC,565,-1.31,-97.3,43.4,-10.2,90,572,0.00,2.65,0.00,0.000,4,0.000,0.080,2434,792,3944
$GC,619,-1.31,-97.3,49.2,-10.8,99,625,0.00,2.58,0.00,0.000,6,0.000,0.067,2434,2206,3944
$GC,758,-1.31,-97.3,64.0,-10.2,124,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2206,3944
$GC,901,-1.31,-97.3,78.2,-10.1,149,908,0.00,2.62,0.00,0.000,4,0.000,0.078,2434,790,3944
$GC,948,-1.31,-97.3,83.1,-10.6,157,954,0.00,2.58,0.00,0.000,6,0.000,0.067,2434,2209,3944
$GC,1087,-1.31,-97.3,97.3,-10.3,182,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2209,3944
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1164,begin apogee
$GC,1174,-0.36,0.0,105.1,9.9,196,1259,1.05,0.00,78.75,0.784,6,0.112,0.000,2641,3934,3546
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1262,1.31,97.3,109.7,0.0,209,1346,1.73,0.00,77.95,0.760,4,0.081,0.000,3006,3934,3149
$GC,1520,1.31,101.3,97.7,7.3,253,1527,0.00,0.00,4.93,0.557,6,0.000,0.000,3005,3934,3132
$GC,1659,1.32,106.7,87.7,7.2,278,1667,0.00,0.00,5.97,0.603,4,0.000,0.000,3006,3934,3111
$GC,1869,1.33,113.9,72.9,7.1,315,1882,0.00,0.00,8.00,0.656,6,0.000,0.000,3006,3934,3080
$GC,2017,1.33,113.9,61.7,8.0,341,2022,0.00,0.00,0.00,0.000,4,0.000,0.000,3006,3934,3081
$GC,2274,1.33,113.9,41.2,7.9,387,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,3934,3080
$GC,2409,1.33,113.9,30.6,7.7,412,2416,0.00,0.00,0.00,0.000,4,0.000,0.000,3006,3934,3080
$GC,2662,1.33,116.9,11.8,7.3,458,2669,0.00,0.00,3.97,0.493,6,0.000,0.000,3006,3934,3069
$GC,2737,1.35,133.2,6.4,6.6,471,2758,0.00,0.00,14.27,0.691,4,0.000,0.000,3006,3934,3002
$STATE,2915,end climb,NO_VERTICAL_VELOCITY
$STATE,2915,begin surface
$SM_CCo,2918,439.48,0.675,0,0,495,748.41
$SM_GC,0.99,12.12,0.00,0.00,0.056,0.000,0.000,391,2196,490,-10.69,-0.11,749.64
$RAFOS_CLK,184
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,200698,080826
$TT8_MAMPS,0.022243
$HUMID,1510
$INTERNAL_PRESSURE,9.07661
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.6,2.061
$10V_AH,10.7,1.470
$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,26.900,27.375,193.850,439.475,0.000,23.378,34.422,216.560,0.000,0.000,0.000,16.405,777.580,727.639,731.027,1207.730,457.481,33.348,1217.500,0.000,1211.215,0.000,0.536,0.000
$DEVICE_MAMPS,177.177,92.040,783.874,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.666,357.687,892.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28660,503
$CAP_FILE_SIZE,50261,0
$CFSIZE,260165632,218804224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1477.2
$GPS,260309,105736,4807.185,-12223.092,29,1.2,29,18.3