version: 66.03
glider: 140
mission: 3
dive: 161
start: 1 18 108 10 59 43
data:
$ID,140
$MISSION,3
$DIVE,161
$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,-5889.9351
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,102033,4805.649,-12221.739,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,125.56
$_SM_ANGLEo,-19.0
$GPS2,102033,4805.649,-12221.739,28,1.1,28,18.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,0.255
$KALMAN_X,26005.3,-61.3,-171.3,-24644.0,33.8
$KALMAN_Y,-39887.5,-1454.0,650.0,39273.7,-434.3
$MHEAD_RNG_PITCHd_Wd,330.4,5174,-17.5,-10.000
$D_GRID,110
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.41,-146.6,0.0,0.0,0,27,0.00,0.00,-6.28,0.000,2,0.000,0.000,2984,2057,638
$GC,30,-1.41,-146.6,125.6,-0.0,1,36,1.33,0.00,-2.75,0.000,2,0.044,0.000,2681,2057,672
$STATE,37,end dive,TARGET_DEPTH_EXCEEDED
$STATE,37,begin apogee
$GC,41,-0.35,0.0,125.6,0.5,2,46,1.00,0.00,0.00,0.000,6,0.041,0.000,2917,2057,672
$STATE,47,end apogee,CONTROL_FINISHED_OK
$STATE,47,begin climb
$GC,48,1.41,146.6,125.6,0.0,3,59,1.65,2.97,0.00,0.000,4,0.042,0.098,3299,640,673
$GC,311,1.05,146.6,108.2,15.4,50,317,0.38,2.70,0.00,0.000,6,0.047,0.064,3213,2048,675
$GC,452,0.73,146.6,85.9,15.2,75,458,0.28,2.90,0.00,0.000,4,0.053,0.098,3144,642,674
$GC,711,0.99,242.3,63.0,5.6,121,717,0.30,2.67,0.00,0.000,6,0.048,0.064,3216,2033,674
$GC,853,1.22,279.2,54.6,8.3,146,859,0.15,2.88,0.00,0.000,4,0.061,0.099,3256,637,674
$GC,909,1.42,300.3,49.5,9.0,156,915,0.20,3.03,0.00,0.000,6,0.054,0.065,3303,2209,674
$GC,1051,1.45,300.3,34.8,14.2,181,1056,0.00,2.45,0.00,0.000,4,0.000,0.076,3303,3466,674
$GC,1117,1.45,300.3,24.2,15.5,193,1123,0.00,2.42,0.00,0.000,6,0.000,0.058,3304,2172,674
$GC,1190,1.36,300.3,11.9,18.7,206,1196,0.00,3.15,0.00,0.000,4,0.000,0.100,3304,641,674
$STATE,1250,end climb,SURFACE_DEPTH_REACHED
$STATE,1250,begin surface coast
$FINISH,0.6,0.998449
$STATE,1262,end surface coast,CONTROL_FINISHED_OK
$STATE,1262,begin surface
$SM_CCo,1345,0.00,0.000,0,0,673,682.67
$SM_GC,-0.00,12.32,0.00,0.00,0.042,0.000,0.000,589,2047,673,-10.98,0.00,682.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1732
$INTERNAL_PRESSURE,14.1802
$TCM_TEMP,15.00
$XPDR_PINGS,29
$24V_AH,23.6,16.886
$10V_AH,9.8,4.478
$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,17.600,27.900,0.000,0.000,0.000,0.000,0.000,0.000,7.250,0.000,0.000,0.000,394.841,716.497,64.410,186.751,34.966,33.322,239.774,0.000,177.558,0.000,0.471
$DEVICE_MAMPS,61.360,99.710,0.000,0.000,0.000,103.000,0.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,5.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6437,219
$CAP_FILE_SIZE,23271,0
$CFSIZE,260165632,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180108,112306,4805.391,-12221.644,34,1.1,34,18.0