version: 66.04
glider: 127
mission: 3
dive: 3
start: 3 25 109 20 38 35
data:
$ID,127
$MISSION,3
$DIVE,3
$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,50
$T_MISSION,70
$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,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,-35066.527
$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,16
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$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,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,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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,4
$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
$GPS1,203350,4807.056,-12222.844,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.7
$GPS2,203743,4807.010,-12222.816,10,1.7,14,18.3
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.030
$KALMAN_X,139.3,95.5,88.1,-120.6,70.1
$KALMAN_Y,-160.2,-117.8,-110.2,-907.6,-85.2
$MHEAD_RNG_PITCHd_Wd,263.9,228,-32.6,-10.000
$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,16,-2.09,-44.5,0.0,0.0,0,115,0.00,0.00,-96.25,0.000,2,0.000,0.000,389,2043,3228
$GC,119,-2.13,-76.3,3.4,-5.2,14,156,10.60,2.70,-21.23,0.000,4,0.166,0.089,2257,3465,3857
$GC,244,-2.13,-76.3,12.4,-11.2,35,251,0.00,2.60,0.00,0.000,6,0.000,0.064,2257,2050,3857
$GC,317,-2.13,-76.3,22.0,-14.0,48,324,0.00,2.62,0.00,0.000,4,0.000,0.081,2257,640,3858
$GC,379,-2.13,-76.3,31.9,-16.4,59,387,0.00,2.58,0.00,0.000,6,0.000,0.068,2257,2048,3858
$GC,452,-2.13,-76.3,43.7,-16.2,72,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2048,3858
$GC,593,-2.13,-76.3,67.1,-16.8,97,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2048,3858
$GC,734,-2.13,-76.3,91.3,-17.0,122,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2048,3858
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,818,begin apogee
$GC,824,-0.31,0.0,105.5,16.9,137,894,2.03,0.00,61.65,0.779,6,0.127,0.000,2650,2049,3546
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,895,begin climb
$GC,897,2.13,76.3,109.5,0.0,148,970,2.53,2.60,61.70,0.764,4,0.073,0.075,3184,3460,3234
$GC,1009,2.16,98.7,105.2,6.6,166,1036,0.00,2.60,19.23,0.721,6,0.000,0.062,3184,2046,3143
$GC,1171,2.16,98.7,89.7,10.8,194,1178,0.00,2.65,0.00,0.000,4,0.000,0.075,3184,3457,3143
$GC,1359,2.16,98.7,69.7,10.4,227,1365,0.00,2.55,0.00,0.000,6,0.000,0.063,3184,2049,3142
$GC,1498,2.16,98.7,55.1,10.0,252,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2049,3142
$GC,1641,2.16,100.5,41.5,9.7,277,1647,0.00,2.62,0.00,0.000,4,0.000,0.075,3184,3467,3142
$GC,1795,2.16,104.5,26.3,9.4,305,1810,0.00,2.60,6.22,0.588,6,0.000,0.064,3184,2046,3120
$GC,1878,2.17,108.4,18.5,9.4,319,1886,0.00,0.00,5.05,0.542,6,0.000,0.000,3184,2046,3104
$GC,1952,2.18,116.9,11.6,8.7,332,1966,0.00,0.00,8.38,0.623,6,0.000,0.000,3184,2046,3069
$GC,2034,2.22,146.6,4.3,5.5,346,2064,0.10,2.72,24.12,0.673,4,0.089,0.074,3206,3469,2948
$STATE,2197,end climb,SURFACE_DEPTH_REACHED
$STATE,2197,begin surface coast
$FINISH,2.9,1.021425
$STATE,2219,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2219,begin surface
$SM_CCo,2246,213.68,0.676,1,0,1507,500.17
$SM_GC,1.51,0.00,0.00,213.68,0.000,0.000,0.676,393,2041,1507,-10.73,-0.25,500.17
$RAFOS_CLK,158
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,190698,202012
$TT8_MAMPS,0.02301
$HUMID,1525
$INTERNAL_PRESSURE,9.1938
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,44.3
$24V_AH,23.7,0.448
$10V_AH,10.7,0.613
$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,28.600,31.450,186.350,213.675,0.000,0.000,0.000,0.000,0.500,0.000,0.000,14.981,591.663,450.840,487.715,926.959,89.342,31.410,887.556,0.000,929.583,0.000,5.537,0.000
$DEVICE_MAMPS,166.439,88.972,778.505,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.517,278.959,696.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22265,379
$CAP_FILE_SIZE,52310,0
$CFSIZE,260165632,219238400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1476.6
$GPS,250309,212055,4807.022,-12223.044,13,1.5,30,18.3