version: 66.03
glider: 140
mission: 3
dive: 76
start: 1 16 108 16 3 2
data:
$ID,140
$MISSION,3
$DIVE,76
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,250
$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,33
$T_MISSION,45
$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,-4213.5762
$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,1
$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
$GPS1,155953,4806.460,-12222.523,15,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-51.3
$GPS2,160205,4806.448,-12222.529,24,1.1,24,18.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,SEVEN_nb
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,-0.004,0.261
$KALMAN_X,12611.8,691.5,-1780.6,-11369.2,-206.8
$KALMAN_Y,-18184.8,-494.7,-533.8,19270.8,-140.3
$MHEAD_RNG_PITCHd_Wd,341.2,1176,-17.6,-10.101
$D_GRID,105
$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,-1.42,-146.6,0.0,0.0,0,117,0.00,0.00,-95.70,0.000,2,0.000,0.000,588,2041,1530
$GC,119,-1.42,-146.6,3.3,-7.8,19,674,9.35,0.00,-534.35,0.000,2,0.042,0.000,2685,2042,2174
$STATE,674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,675,begin apogee
$GC,678,-0.35,0.0,100.4,13.5,129,683,1.00,0.00,0.00,0.000,6,0.043,0.000,2913,2042,2174
$STATE,684,end apogee,CONTROL_FINISHED_OK
$STATE,684,begin climb
$GC,685,1.42,146.6,101.9,0.0,130,696,1.70,2.95,0.00,0.000,4,0.042,0.101,3305,643,2174
$GC,762,2.58,455.7,105.7,-4.2,144,834,1.12,2.72,61.22,0.633,6,0.043,0.066,3555,2055,1597
$GC,969,2.27,455.7,90.8,16.6,182,975,0.35,2.92,0.00,0.000,4,0.048,0.100,3474,639,1592
$GC,1227,1.97,455.7,50.4,14.7,228,1234,0.25,2.80,0.00,0.000,6,0.051,0.066,3413,2092,1591
$GC,1369,1.86,455.7,33.0,11.0,253,1374,0.00,3.00,0.00,0.000,4,0.000,0.100,3413,641,1592
$GC,1627,2.23,561.3,8.7,5.2,299,1683,0.30,2.78,47.20,0.637,6,0.048,0.067,3483,2078,1167
$GC,1751,2.90,756.6,4.5,1.0,322,1832,0.60,3.00,71.57,0.625,4,0.048,0.099,3622,649,519
$GC,1905,3.62,973.2,2.4,0.0,351,1911,0.70,2.78,0.00,0.000,6,0.046,0.066,3779,2090,512
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,-0.0,0.998431
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2172,0.00,0.000,0,0,511,722.90
$SM_GC,0.00,14.52,0.00,0.00,0.043,0.000,0.000,585,2045,511,-10.99,-0.08,722.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1780
$INTERNAL_PRESSURE,14.2388
$TCM_TEMP,15.00
$XPDR_PINGS,56
$24V_AH,23.5,10.745
$10V_AH,9.8,3.049
$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,29.900,23.050,180.000,0.000,0.000,0.000,0.000,47.426,14.000,0.000,0.000,24.097,398.578,722.207,749.846,344.797,102.028,33.324,1066.103,0.000,303.058,0.000,0.472
$DEVICE_MAMPS,50.622,101.244,637.377,0.000,0.000,103.000,0.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,5.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9584,384
$CAP_FILE_SIZE,39069,0
$CFSIZE,260165632,257294336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,96,0
$GPS,160108,164001,4806.383,-12222.402,24,1.1,24,18.0