version: 66.04
glider: 127
mission: 3
dive: 9
start: 3 26 109 2 15 28
data:
$ID,127
$MISSION,3
$DIVE,9
$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,-35227.52
$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,21
$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
$GPS1,020746,4806.201,-12222.055,16,2.9,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.0
$GPS2,021436,4806.200,-12222.042,17,1.8,27,18.3
$SPEED_LIMITS,0.107,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.003,-0.151
$KALMAN_X,535.5,183.2,-27.4,471.1,39.2
$KALMAN_Y,-213.5,-192.1,117.5,-2511.2,237.4
$MHEAD_RNG_PITCHd_Wd,160.4,374,-22.7,-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,17,-1.69,-55.6,0.0,0.0,0,88,0.00,0.00,-69.30,0.000,2,0.000,0.000,393,2041,3256
$GC,92,-1.74,-97.3,3.2,-3.1,10,129,11.27,2.67,-16.23,0.000,4,0.172,0.091,2340,3452,3945
$GC,374,-1.74,-97.3,44.2,-14.1,60,381,0.00,2.58,0.00,0.000,6,0.000,0.065,2340,2055,3946
$GC,515,-1.74,-97.3,63.6,-14.5,85,522,0.00,2.62,0.00,0.000,4,0.000,0.078,2340,3463,3946
$GC,654,-1.74,-97.3,84.6,-14.9,109,660,0.00,2.58,0.00,0.000,6,0.000,0.064,2340,2045,3946
$GC,793,-1.74,-97.3,104.8,-14.1,134,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2045,3946
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,884,-0.36,0.0,116.8,13.9,149,969,1.52,0.00,79.50,0.777,6,0.117,0.000,2637,2157,3546
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,973,1.74,97.3,121.0,0.0,162,1057,2.20,0.00,78.68,0.767,6,0.075,0.000,3097,2157,3149
$GC,1195,1.74,97.3,107.7,9.1,199,1201,0.00,2.60,0.00,0.000,4,0.000,0.077,3097,3555,3149
$GC,1313,1.74,97.3,96.8,9.0,220,1320,0.00,2.58,0.00,0.000,6,0.000,0.063,3097,2152,3149
$GC,1454,1.74,97.3,85.2,8.2,245,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2152,3148
$GC,1593,1.74,97.3,74.2,7.9,270,1600,0.00,2.65,0.00,0.000,4,0.000,0.077,3097,3556,3148
$GC,1701,1.74,97.3,65.4,8.4,289,1707,0.00,2.55,0.00,0.000,6,0.000,0.063,3097,2149,3149
$GC,1841,1.74,97.3,54.7,7.7,314,1849,0.00,2.65,0.00,0.000,4,0.000,0.077,3097,3557,3148
$GC,1965,1.74,97.3,43.9,8.9,336,1972,0.00,2.58,0.00,0.000,6,0.000,0.063,3097,2150,3148
$GC,2105,1.74,97.3,31.8,8.4,361,2112,0.00,2.65,0.00,0.000,4,0.000,0.077,3097,3559,3148
$GC,2250,1.76,109.2,20.8,6.4,387,2272,0.00,2.58,11.35,0.659,6,0.000,0.063,3097,2150,3100
$GC,2340,1.78,124.6,15.3,6.1,402,2362,0.00,2.67,13.80,0.662,4,0.000,0.077,3097,3551,3037
$GC,2527,1.85,183.6,3.8,2.1,435,2584,0.10,2.58,47.10,0.705,6,0.074,0.062,3125,2141,2796
$GC,2652,1.96,273.6,3.8,-0.7,455,2730,0.12,0.00,72.15,0.700,6,0.081,0.000,3151,2140,2428
$STATE,2735,end climb,SURFACE_DEPTH_REACHED
$STATE,2735,begin surface coast
$FINISH,2.1,1.019275
$STATE,2908,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2909,begin surface
$SM_CCo,2933,143.60,0.689,0,0,1507,500.17
$SM_GC,1.25,0.00,0.00,143.60,0.000,0.000,0.689,390,2046,1507,-10.75,-0.11,500.17
$RAFOS_CLK,166
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,200698,010108
$TT8_MAMPS,0.02301
$HUMID,1508
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,45.8
$24V_AH,23.6,1.132
$10V_AH,10.6,0.979
$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,28.275,36.875,302.575,143.600,0.000,22.994,24.057,203.708,0.500,0.000,0.000,27.465,755.637,614.990,470.054,1219.066,432.612,33.328,973.323,0.000,1213.802,0.000,5.541,0.000
$DEVICE_MAMPS,171.808,90.506,776.971,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.016,362.769,903.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,499
$CAP_FILE_SIZE,49738,0
$CFSIZE,260165632,219062272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1476.2
$GPS,260309,030759,4805.988,-12222.038,10,2.7,29,18.3