version: 66.03
glider: 140
mission: 3
dive: 84
start: 1 16 108 19 39 18
data:
$ID,140
$MISSION,3
$DIVE,84
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51445
$NAV_MODE,1
$FERRY_MAX,0
$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,4736
$TGT_DEFAULT_LON,-12218
$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,-4333.144
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,157
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2048
$C_ROLL_CLIMB,2048
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3457
$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,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.40656364
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,185644,4805.960,-12221.908,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,124.37
$_SM_ANGLEo,24.2
$GPS2,185644,4805.960,-12221.908,20,1.1,20,18.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.185,0.183
$KALMAN_X,14733.0,362.2,224.8,-14402.2,-366.0
$KALMAN_Y,-20581.6,-821.3,-997.9,21561.7,1577.4
$MHEAD_RNG_PITCHd_Wd,296.7,4579,-17.5,-10.000
$D_GRID,108
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.41,-146.6,0.0,0.0,0,26,0.00,0.00,-6.35,0.000,2,0.000,0.000,2989,2048,645
$GC,28,-1.41,-146.6,120.3,-0.0,1,35,1.35,0.00,-2.75,0.000,2,0.047,0.000,2681,2049,681
$STATE,35,end dive,TARGET_DEPTH_EXCEEDED
$STATE,36,begin apogee
$GC,39,-0.35,0.0,119.4,-11.8,2,44,1.00,0.00,0.00,0.000,6,0.042,0.000,2914,2049,681
$STATE,45,end apogee,CONTROL_FINISHED_OK
$STATE,45,begin climb
$GC,46,1.41,146.6,117.9,0.0,3,53,1.67,2.80,0.00,0.000,4,0.044,0.071,3300,3465,680
$GC,74,1.08,146.6,113.6,14.7,8,81,0.35,2.67,0.00,0.000,6,0.051,0.058,3221,2039,681
$GC,215,0.79,146.6,92.8,13.9,33,222,0.28,2.90,0.00,0.000,4,0.054,0.102,3157,643,682
$GC,345,0.96,210.3,79.1,7.1,56,351,0.20,2.72,0.00,0.000,6,0.054,0.064,3204,2058,683
$GC,486,1.37,319.5,70.6,5.0,81,492,0.35,2.72,0.00,0.000,4,0.051,0.074,3285,3458,682
$GC,559,1.78,417.6,66.5,5.5,94,565,0.43,2.67,0.00,0.000,6,0.063,0.058,3374,2038,682
$GC,701,2.00,435.4,55.2,9.2,119,706,0.20,2.78,0.00,0.000,4,0.080,0.071,3419,3464,682
$GC,897,2.02,435.4,29.1,16.7,154,902,0.00,2.83,0.00,0.000,6,0.000,0.058,3419,1974,682
$GC,969,1.93,435.4,15.5,19.1,167,975,0.00,2.78,0.00,0.000,4,0.000,0.102,3419,639,682
$GC,991,1.85,435.4,11.2,19.9,171,997,0.15,2.53,0.00,0.000,6,0.064,0.063,3383,1959,682
$STATE,1045,end climb,SURFACE_DEPTH_REACHED
$STATE,1045,begin surface coast
$FINISH,-0.0,0.998263
$STATE,1058,end surface coast,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$SM_CCo,1137,0.00,0.000,0,0,682,680.71
$SM_GC,0.00,12.75,0.00,0.00,0.044,0.000,0.000,586,2053,682,-11.00,0.14,680.71
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1793
$INTERNAL_PRESSURE,14.2388
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,23.6,11.183
$10V_AH,9.8,3.162
$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,18.725,27.575,0.000,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,350.891,593.609,64.033,155.744,25.567,33.040,219.561,0.000,153.392,0.000,0.472
$DEVICE_MAMPS,79.768,102.011,0.000,0.000,0.000,103.000,0.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,5.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3307,183
$CAP_FILE_SIZE,23047,0
$CFSIZE,260165632,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160108,195855,4805.694,-12221.762,18,1.1,18,18.0