version: 66.03
glider: 126
mission: 3
dive: 28
start: 9 18 107 19 37 30
data:
$ID,126
$MISSION,3
$DIVE,28
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,50
$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,300
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51247
$NAV_MODE,1
$FERRY_MAX,40
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,3.0000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,8000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-613954.88
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,384
$PITCH_MAX,3709
$C_PITCH,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3906
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,3012
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$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,61.200001
$PRESSURE_YINT,0
$PRESSURE_SLOPE,9.1816306e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,193140,4806.853,-12222.931,11,1.9,18,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-58.7
$GPS2,193635,4806.870,-12222.950,14,2.1,33,18.3
$SPEED_LIMITS,0.173,0.329
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.033,0.170
$KALMAN_X,202.4,-66.3,-113.5,15.9,-4.2
$KALMAN_Y,-1710.1,228.3,-4.7,652.8,-59.3
$MHEAD_RNG_PITCHd_Wd,330.7,249,-27.3,-10.000
$D_GRID,103
$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,15,begin dive
$GC,18,-2.38,-62.4,0.0,0.0,0,82,0.00,0.00,-61.88,0.000,6,0.000,0.000,381,2197,3268
$GC,84,-2.50,-138.1,0.4,-1.9,12,113,10.85,2.55,-10.52,0.000,4,0.189,0.067,2233,798,3575
$GC,452,-2.58,-181.9,19.0,-5.3,77,459,0.00,2.40,-2.35,0.000,6,0.000,0.037,2233,2213,3756
$GC,525,-2.59,-192.9,24.7,-8.8,85,531,0.00,2.55,-0.47,0.000,4,0.000,0.065,2233,786,3801
$GC,867,-2.59,-192.9,64.8,-11.9,115,872,0.00,2.42,0.00,0.000,6,0.000,0.041,2233,2206,3803
$GC,1192,-2.59,-192.9,100.6,-11.4,145,1196,0.00,2.45,0.00,0.000,4,0.000,0.054,2233,3594,3803
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1217,-0.42,0.0,103.1,11.3,146,1374,2.30,0.00,149.18,0.798,6,0.126,0.000,2687,2193,3012
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,2.59,192.9,103.5,0.0,162,1529,3.00,0.00,146.30,0.756,6,0.071,0.000,3352,2193,2225
$STATE,1846,end climb,SURFACE_DEPTH_REACHED
$STATE,1846,begin surface coast
$FINISH,0.9,1.021061
$STATE,1852,end surface coast,CONTROL_FINISHED_OK
$STATE,1853,begin surface
$SM_CCo,1872,59.38,0.695,1,0,1789,300.00
$SM_GC,0.00,0.00,0.00,59.38,0.000,0.000,0.695,384,2187,1789,-11.04,-0.37,300.00
$IRIDIUM_FIX,4751.72,-12223.57,180907,222217
$TT8_MAMPS,0.022243
$HUMID,1922
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,18.90
$XPDR_PINGS,79
$24V_AH,23.4,3.202
$10V_AH,10.1,1.640
$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,29.350,14.800,295.475,59.375,0.000,29.191,45.858,126.457,19.750,0.000,0.000,34.407,351.805,761.464,368.340,516.464,250.112,33.338,648.220,0.000,500.491,0.000,0.459
$DEVICE_MAMPS,189.449,67.496,798.447,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,143.587,219.882,369.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9716,214
$CFSIZE,260165632,256077824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180907,201050,4807.020,-12223.101,15,1.9,32,18.3