version: 66.03
glider: 128
mission: 3
dive: 16
start: 4 17 108 9 50 32
data:
$ID,128
$MISSION,3
$DIVE,16
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$D_ABORT,250
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51171
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96407.297
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3181
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-12.587764
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,094439,4807.656,-12223.688,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.1
$GPS2,094932,4807.674,-12223.700,15,1.2,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.190
$KALMAN_X,-1372.0,-58.0,-27.6,1232.8,-32.9
$KALMAN_Y,2542.4,168.2,-5.5,-2607.2,6.7
$MHEAD_RNG_PITCHd_Wd,313.2,709,-22.4,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.05,-97.8,0.0,0.0,0,176,0.00,0.00,-137.07,0.000,6,0.000,0.000,51,2044,3580
$GC,182,-1.05,-97.8,4.9,-7.4,27,200,10.23,2.35,0.00,0.000,4,0.201,0.040,2674,649,3583
$GC,215,-1.05,-97.8,7.8,-7.9,32,222,0.00,2.33,0.00,0.000,6,0.000,0.031,2666,2045,3583
$GC,293,-1.05,-97.8,10.8,-3.1,45,300,0.00,2.35,0.00,0.000,4,0.000,0.046,2655,3442,3583
$GC,606,-1.05,-97.8,29.7,-7.9,88,612,0.00,2.28,0.00,0.000,6,0.000,0.029,2655,2025,3584
$GC,807,-1.05,-97.8,44.5,-7.5,107,811,0.00,2.38,0.00,0.000,4,0.000,0.048,2644,3443,3584
$GC,853,-1.05,-97.8,48.4,-8.2,110,860,0.12,2.22,0.00,0.000,6,0.143,0.029,2675,2032,3584
$GC,1054,-1.05,-97.8,63.2,-7.2,129,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2031,3584
$GC,1386,-1.05,-97.8,86.3,-6.9,160,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2030,3584
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1626,-0.21,0.0,103.1,7.3,182,1705,0.85,0.00,75.15,0.853,6,0.121,0.000,2939,2203,3181
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1711,1.05,97.8,105.1,0.0,190,1792,1.25,0.00,75.25,0.760,6,0.070,0.000,3351,2203,2781
$GC,2114,1.05,97.8,69.0,10.2,228,2118,0.00,2.38,0.00,0.000,4,0.000,0.049,3351,3607,2780
$GC,2167,1.05,97.8,63.1,10.9,232,2171,0.00,2.28,0.00,0.000,6,0.000,0.030,3362,2211,2780
$GC,2499,1.05,97.8,28.7,10.4,262,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2209,2780
$GC,2707,1.07,108.9,7.8,9.2,292,2719,0.00,0.00,9.15,0.832,6,0.000,0.000,3362,2207,2737
$STATE,2768,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,3.0,1.022351
$STATE,2820,end surface coast,CONTROL_FINISHED_OK
$STATE,2820,begin surface
$SM_CCo,2826,295.38,0.690,0,0,204,730.26
$SM_GC,1.29,9.57,0.00,0.00,0.033,0.000,0.000,53,2034,198,-9.20,-0.37,731.48
$IRIDIUM_FIX,4751.72,-12340.51,120797,080825
$TT8_MAMPS,0.026078
$HUMID,1643
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.1,47.4
$24V_AH,24.2,2.711
$10V_AH,10.7,4.703
$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,22.025,19.075,159.550,295.375,0.000,24.872,39.565,103.360,0.250,0.000,0.000,16.488,498.864,1469.036,563.708,629.230,386.428,33.328,889.440,0.000,641.695,0.000,2.516
$DEVICE_MAMPS,200.954,49.088,852.904,689.533,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.629,0.000,526.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12864,312
$CAP_FILE_SIZE,35171,0
$CFSIZE,260165632,227401728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170408,104527,4807.917,-12223.826,10,1.7,10,18.3