version: 66.04
glider: 127
mission: 3
dive: 8
start: 3 26 109 1 12 26
data:
$ID,127
$MISSION,3
$DIVE,8
$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,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,-35199.422
$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,22
$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,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,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
$GPS1,010516,4806.486,-12222.270,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.3
$GPS2,011136,4806.487,-12222.279,11,1.6,27,18.3
$SPEED_LIMITS,0.107,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.189
$KALMAN_X,394.9,204.8,25.5,243.8,-31.3
$KALMAN_Y,-268.4,-239.6,-11.1,-1750.9,263.5
$MHEAD_RNG_PITCHd_Wd,145.4,965,-16.6,-7.463
$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,-1.31,-97.3,0.0,0.0,0,94,0.00,0.00,-75.65,0.000,2,0.000,0.000,392,2042,3427
$GC,98,-1.31,-97.3,3.6,-3.5,11,128,11.75,2.60,-11.57,0.000,4,0.169,0.092,2437,643,3944
$GC,159,-1.31,-97.3,11.3,-7.5,20,166,0.00,2.58,0.00,0.000,6,0.000,0.067,2437,2046,3944
$GC,232,-1.31,-97.3,16.9,-8.1,33,239,0.00,2.65,0.00,0.000,4,0.000,0.079,2437,3456,3945
$GC,287,-1.31,-97.3,21.9,-9.6,42,294,0.00,2.58,0.00,0.000,6,0.000,0.064,2438,2056,3945
$GC,360,-1.31,-97.3,29.2,-9.6,55,367,0.00,2.65,0.00,0.000,4,0.000,0.082,2437,642,3945
$GC,391,-1.31,-97.3,32.2,-9.3,60,399,0.00,2.58,0.00,0.000,6,0.000,0.067,2437,2044,3945
$GC,467,-1.31,-97.3,39.5,-9.7,73,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2044,3945
$GC,540,-1.31,-97.3,47.3,-10.5,86,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2043,3945
$GC,681,-1.31,-97.3,61.7,-10.2,111,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2043,3945
$GC,820,-1.31,-97.3,76.1,-10.4,136,827,0.00,2.65,0.00,0.000,4,0.000,0.080,2437,3462,3945
$GC,851,-1.31,-97.3,79.4,-10.8,141,863,0.00,2.58,0.00,0.000,6,0.000,0.064,2437,2038,3945
$GC,996,-1.31,-97.3,94.5,-10.1,166,1004,0.00,2.67,0.00,0.000,4,0.000,0.078,2437,3461,3945
$GC,1021,-1.31,-97.3,97.1,-10.4,170,1028,0.00,2.58,0.00,0.000,6,0.000,0.062,2437,2051,3945
$GC,1164,-1.31,-97.3,111.4,-10.2,195,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2050,3945
$STATE,1212,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1212,begin apogee
$GC,1219,-0.36,0.0,116.8,10.1,204,1305,1.00,0.00,79.12,0.793,6,0.103,0.000,2640,2161,3546
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1309,1.31,97.3,120.2,0.0,217,1399,1.73,2.67,78.22,0.774,4,0.077,0.078,3007,3553,3149
$GC,1429,1.36,142.5,116.6,5.1,236,1475,0.00,2.60,37.38,0.753,6,0.000,0.062,3007,2143,2966
$GC,1611,1.36,142.5,102.7,8.3,267,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2143,2965
$GC,1750,1.36,142.5,90.8,8.6,292,1757,0.00,2.67,0.00,0.000,4,0.000,0.078,3007,3556,2965
$GC,1826,1.36,142.5,84.0,8.9,305,1833,0.00,2.55,0.00,0.000,6,0.000,0.062,3007,2148,2965
$GC,1966,1.36,142.5,71.9,8.8,330,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2148,2965
$GC,2108,1.36,142.5,59.8,8.7,355,2114,0.00,2.62,0.00,0.000,4,0.000,0.078,3007,3556,2965
$GC,2189,1.36,142.5,52.7,8.8,369,2196,0.00,2.55,0.00,0.000,6,0.000,0.062,3007,2146,2965
$GC,2328,1.36,142.5,41.3,7.8,394,2336,0.00,2.65,0.00,0.000,4,0.000,0.077,3006,3554,2965
$GC,2386,1.36,142.5,36.4,8.6,404,2394,0.00,2.58,0.00,0.000,6,0.000,0.062,3007,2146,2965
$GC,2459,1.36,142.5,30.5,8.2,417,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2146,2965
$GC,2532,1.36,142.5,24.5,8.3,430,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2146,2965
$GC,2605,1.37,147.9,19.1,7.2,443,2619,0.00,2.67,6.03,0.583,4,0.000,0.077,3007,3548,2943
$GC,2658,1.37,147.9,14.8,8.4,452,2665,0.00,2.58,0.00,0.000,6,0.000,0.062,3007,2144,2943
$GC,2732,1.37,147.9,8.5,8.5,465,2739,0.00,2.65,0.00,0.000,4,0.000,0.078,3007,3551,2943
$GC,2833,1.60,333.3,6.4,-2.1,483,2993,0.25,2.55,149.62,0.706,6,0.064,0.061,3069,2150,2186
$STATE,3001,end climb,SURFACE_DEPTH_REACHED
$STATE,3001,begin surface coast
$FINISH,1.1,1.017583
$STATE,3093,end surface coast,CONTROL_FINISHED_OK
$STATE,3093,begin surface
$SM_CCo,3117,121.68,0.683,0,0,1506,500.17
$SM_GC,1.24,0.00,0.00,121.68,0.000,0.000,0.683,393,2040,1506,-10.73,-0.28,500.17
$RAFOS_CLK,175
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,200698,000002
$TT8_MAMPS,0.02301
$HUMID,1524
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,46.1
$24V_AH,23.6,1.026
$10V_AH,10.6,0.912
$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,27.250,57.825,350.375,121.675,0.000,25.133,24.353,181.275,0.500,0.000,0.000,27.605,792.060,618.017,520.849,1269.296,425.799,33.328,1100.078,0.000,1262.327,0.000,5.562,0.000
$DEVICE_MAMPS,168.740,92.040,793.078,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.401,371.050,922.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28551,523
$CAP_FILE_SIZE,57436,0
$CFSIZE,260165632,219090944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.5
$GPS,260309,020746,4806.201,-12222.055,16,2.9,35,18.3