version: 66.04
glider: 127
mission: 3
dive: 7
start: 3 26 109 0 18 2
data:
$ID,127
$MISSION,3
$DIVE,7
$D_SURF,4
$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,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,-35171.184
$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,2050
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,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,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
$GPS1,001108,4806.681,-12222.495,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.8
$GPS2,001708,4806.668,-12222.526,11,1.8,11,18.3
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.195
$KALMAN_X,326.8,199.6,73.3,-35.4,-42.7
$KALMAN_Y,-373.5,-272.6,-114.8,-1175.2,153.3
$MHEAD_RNG_PITCHd_Wd,136.9,1398,-21.8,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.67,-97.3,0.0,0.0,0,88,0.00,0.00,-69.32,0.000,2,0.000,0.000,388,2054,3271
$GC,92,-1.67,-97.3,3.6,-5.0,10,129,11.40,2.67,-16.00,0.000,4,0.173,0.091,2354,641,3945
$GC,217,-1.67,-97.3,17.9,-13.1,31,225,0.00,2.58,0.00,0.000,6,0.000,0.067,2354,2041,3946
$GC,292,-1.67,-97.3,27.5,-12.7,44,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2042,3946
$GC,365,-1.67,-97.3,37.1,-13.4,57,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2042,3946
$GC,437,-1.67,-97.3,47.4,-14.4,70,444,0.00,2.65,0.00,0.000,4,0.000,0.080,2354,3458,3946
$GC,462,-1.67,-97.3,51.1,-14.8,74,469,0.00,2.58,0.00,0.000,6,0.000,0.065,2354,2054,3946
$GC,605,-1.67,-97.3,72.2,-15.3,99,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2054,3946
$GC,744,-1.67,-97.3,93.3,-14.3,124,751,0.00,2.65,0.00,0.000,4,0.000,0.079,2354,3458,3946
$GC,764,-1.67,-97.3,96.2,-14.9,127,771,0.00,2.55,0.00,0.000,6,0.000,0.064,2354,2048,3946
$STATE,901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,901,begin apogee
$GC,909,-0.36,0.0,116.3,13.5,152,994,1.45,0.00,79.18,0.784,6,0.117,0.000,2638,2158,3546
$STATE,994,end apogee,CONTROL_FINISHED_OK
$STATE,994,begin climb
$GC,997,1.67,97.3,120.5,0.0,165,1087,2.12,0.00,78.47,0.768,6,0.075,0.000,3090,2158,3149
$GC,1224,1.70,121.7,107.7,8.3,203,1251,0.00,2.70,21.38,0.736,4,0.000,0.077,3090,3557,3049
$GC,1345,1.70,121.7,95.6,10.7,224,1353,0.00,2.60,0.00,0.000,6,0.000,0.064,3090,2146,3048
$GC,1488,1.71,124.3,81.5,9.8,249,1502,0.00,2.67,3.67,0.460,4,0.000,0.077,3090,3551,3039
$GC,1625,1.71,124.3,67.0,10.7,273,1631,0.00,2.55,0.00,0.000,6,0.000,0.063,3089,2144,3039
$GC,1765,1.72,136.8,53.2,9.1,298,1779,0.00,0.00,11.73,0.680,6,0.000,0.000,3090,2144,2988
$GC,1913,1.75,156.2,39.6,8.7,324,1935,0.00,2.72,16.90,0.705,4,0.000,0.077,3090,3553,2909
$GC,2100,1.75,157.6,20.4,9.9,357,2108,0.00,2.58,0.00,0.000,6,0.000,0.064,3090,2152,2909
$GC,2175,1.76,167.7,13.3,9.3,370,2191,0.00,2.70,10.75,0.660,4,0.000,0.077,3090,3555,2862
$GC,2226,1.76,167.7,7.4,11.9,378,2233,0.00,2.60,0.00,0.000,6,0.000,0.064,3090,2142,2862
$GC,2302,1.95,322.2,5.4,-0.7,391,2408,0.25,0.00,103.03,0.709,2,0.071,0.000,3146,2142,2339
$STATE,2409,end climb,SURFACE_DEPTH_REACHED
$STATE,2409,begin surface coast
$FINISH,1.6,1.018187
$STATE,2587,end surface coast,CONTROL_FINISHED_OK
$STATE,2587,begin surface
$SM_CCo,2612,131.95,0.669,3,0,1507,500.17
$SM_GC,1.26,0.00,0.00,131.95,0.000,0.000,0.669,392,2042,1507,-10.73,-0.23,500.17
$RAFOS_CLK,146
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,190698,232340
$TT8_MAMPS,0.022243
$HUMID,1534
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,45.4
$24V_AH,23.6,0.916
$10V_AH,10.7,0.843
$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,28.200,37.150,325.100,131.950,0.000,30.960,23.721,176.371,0.500,0.000,0.000,11.908,665.638,526.343,488.805,1053.973,395.414,33.323,964.800,0.000,1063.207,0.000,5.537,0.000
$DEVICE_MAMPS,172.575,91.273,783.874,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,301.629,314.777,783.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25386,439
$CAP_FILE_SIZE,47489,0
$CFSIZE,260165632,219136000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1476.1
$GPS,260309,010516,4806.486,-12222.270,10,99.0,29,18.3