version: 66.03
glider: 128
mission: 3
dive: 8
start: 4 17 108 1 23 34
data:
$ID,128
$MISSION,3
$DIVE,8
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$D_ABORT,250
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51171
$NAV_MODE,1
$FERRY_MAX,45
$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,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96226.812
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3181
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-12.587764
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,011745,4808.409,-12224.019,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.4
$GPS2,012232,4808.419,-12224.047,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.093,-0.243
$KALMAN_X,-1243.7,-537.2,-55.9,1183.5,71.4
$KALMAN_Y,2129.9,777.6,164.6,-1594.3,-35.0
$MHEAD_RNG_PITCHd_Wd,140.8,2930,-18.2,-10.000
$D_GRID,101
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.94,-146.6,0.0,0.0,0,123,0.00,0.00,-89.20,0.000,2,0.000,0.000,53,2046,2973
$GC,128,-0.94,-146.6,5.0,-11.5,17,164,10.52,2.40,-19.62,0.000,4,0.204,0.055,2730,652,3582
$GC,468,-0.94,-146.6,17.9,-4.9,76,474,0.00,2.28,0.00,0.000,6,0.000,0.033,2721,2063,3585
$GC,544,-0.94,-146.6,22.0,-5.5,86,548,0.00,2.30,0.00,0.000,4,0.000,0.048,2710,3446,3585
$GC,590,-0.94,-146.6,24.9,-6.4,89,597,0.00,2.22,0.00,0.000,6,0.000,0.030,2710,2049,3586
$GC,792,-0.94,-146.6,37.7,-6.7,108,796,0.00,2.35,0.00,0.000,4,0.000,0.049,2700,3451,3585
$GC,858,-0.94,-146.6,42.4,-7.1,113,862,0.12,2.25,0.00,0.000,6,0.137,0.030,2731,2042,3585
$GC,1059,-0.94,-146.6,55.1,-6.4,131,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2042,3585
$GC,1387,-0.94,-146.6,74.8,-6.5,162,1391,0.00,2.35,0.00,0.000,4,0.000,0.050,2722,3453,3585
$GC,1419,-0.94,-146.6,76.8,-6.6,164,1423,0.00,2.25,0.00,0.000,6,0.000,0.030,2722,2043,3586
$GC,1751,-0.94,-146.6,97.1,-5.9,194,1755,0.00,2.33,0.00,0.000,4,0.000,0.050,2713,3446,3585
$GC,1800,-0.94,-146.6,100.6,-6.7,198,1804,0.00,2.17,0.00,0.000,3,0.000,0.030,2713,2070,3585
$STATE,1805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1805,begin apogee
$GC,1816,-0.21,0.0,101.1,6.5,198,1896,0.80,0.00,76.00,0.929,6,0.114,0.000,2963,2208,3181
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1897,begin climb
$GC,1902,0.94,146.6,102.9,0.0,206,2021,1.10,0.00,112.53,0.810,6,0.066,0.000,3331,2208,2581
$GC,2342,0.94,146.6,60.7,11.1,248,2347,0.00,2.35,0.00,0.000,4,0.000,0.051,3331,3597,2581
$GC,2389,0.94,146.6,55.0,11.9,251,2396,0.00,2.25,0.00,0.000,6,0.000,0.029,3341,2214,2581
$GC,2721,0.94,146.6,18.9,10.6,282,2728,0.00,2.38,0.00,0.000,4,0.000,0.050,3341,3602,2580
$GC,2771,0.94,146.6,12.6,11.8,290,2777,0.00,2.25,0.00,0.000,6,0.000,0.030,3352,2194,2580
$GC,2848,1.03,219.7,5.7,6.7,303,2909,0.00,2.47,53.95,0.838,4,0.000,0.049,3352,3604,2284
$STATE,2992,end climb,NO_VERTICAL_VELOCITY
$STATE,2996,begin surface
$SM_CCo,3002,335.52,0.708,0,0,204,730.26
$SM_GC,1.20,9.60,0.00,0.00,0.036,0.000,0.000,49,2052,198,-9.27,0.14,731.73
$IRIDIUM_FIX,4751.72,-12340.51,120797,000057
$TT8_MAMPS,0.026078
$HUMID,1668
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.0,48.7
$24V_AH,24.1,1.820
$10V_AH,10.7,4.340
$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,22.150,37.500,242.475,335.525,0.000,23.788,38.638,101.430,0.250,0.000,0.000,16.222,528.715,1515.182,639.535,679.339,398.417,33.349,1003.846,0.000,687.539,0.000,2.521
$DEVICE_MAMPS,204.022,55.224,928.837,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.671,0.000,555.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15989,329
$CAP_FILE_SIZE,40348,0
$CFSIZE,260165632,227622912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,022237,4808.139,-12223.791,41,1.2,41,18.3