version: 66.03
glider: 140
mission: 4
dive: 1
start: 3 5 108 21 51 40
data:
$ID,140
$MISSION,4
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$D_NO_BLEED,80
$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,15
$T_MISSION,30
$T_ABORT,720
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51359
$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,711.18201
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12254.896
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,3000
$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,0.059999999
$PITCH_ADJ_DBAND,1
$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,25
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3460
$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,-1.6534929
$PRESSURE_SLOPE,9.0994887e-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,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
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$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,0.0043273787
$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
$GPS1,214734,4807.971,-12223.136,7,2.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.6
$GPS2,215045,4807.966,-12223.126,15,1.2,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.235
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,136.1,6090,-17.5,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.41,-146.6,0.0,0.0,0,148,0.00,0.00,-124.70,0.000,2,0.000,0.000,589,2053,3694
$GC,151,-1.41,-146.6,3.3,-5.8,23,176,12.12,2.78,-6.50,0.000,4,0.178,0.116,2684,3462,3980
$GC,339,-1.20,-146.6,24.3,-10.2,56,347,0.25,2.70,0.00,0.000,6,0.111,0.097,2733,2064,3981
$GC,415,-1.20,-146.6,30.8,-8.7,69,421,0.00,2.95,0.00,0.000,4,0.000,0.128,2732,632,3980
$GC,451,-1.09,-146.6,34.2,-9.6,75,458,0.15,2.78,0.00,0.000,6,0.107,0.107,2760,2043,3981
$GC,527,-1.20,-146.6,40.1,-7.5,88,534,0.00,2.78,0.00,0.000,4,0.000,0.110,2760,3461,3981
$GC,557,-1.38,-146.6,42.6,-8.5,93,564,0.28,2.72,0.00,0.000,6,0.055,0.097,2694,2041,3981
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.35,0.0,45.0,9.6,97,691,1.08,0.00,98.65,0.840,6,0.101,0.000,2916,2040,3460
$STATE,692,end apogee,CONTROL_FINISHED_OK
$STATE,692,begin climb
$GC,694,1.41,146.6,48.7,0.0,116,815,1.77,0.00,113.72,0.829,6,0.069,0.000,3303,2041,2862
$GC,883,1.06,146.6,35.7,12.2,150,890,0.32,2.83,0.00,0.000,4,0.106,0.105,3236,3463,2862
$GC,936,0.91,146.6,30.1,10.1,159,944,0.20,2.78,0.00,0.000,6,0.105,0.099,3197,2042,2862
$GC,1012,1.08,191.5,24.0,7.9,172,1058,0.15,3.00,36.12,0.819,4,0.063,0.129,3239,638,2679
$GC,1077,1.08,191.5,17.6,11.7,183,1083,0.00,2.80,0.00,0.000,6,0.000,0.100,3240,2055,2679
$GC,1152,1.09,199.5,9.8,9.6,196,1165,0.00,2.88,8.00,0.706,4,0.000,0.107,3240,3468,2646
$GC,1201,1.11,218.8,5.1,9.1,204,1224,0.00,2.78,15.73,0.783,6,0.000,0.097,3240,2040,2568
$STATE,1258,end climb,SURFACE_DEPTH_REACHED
$STATE,1258,begin surface coast
$FINISH,1.8,1.018274
$STATE,1327,end surface coast,CONTROL_FINISHED_OK
$STATE,1327,begin surface
$SM_CCo,1347,259.35,0.801,0,0,559,711.37
$SM_GC,0.98,0.00,0.00,259.35,0.000,0.000,0.801,590,2039,559,-11.09,-0.25,711.37
$IRIDIUM_FIX,4748.51,-12226.29,300597,212132
$TT8_MAMPS,0.02301
$HUMID,1537
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.30
$XPDR_PINGS,6
$24V_AH,23.8,5.137
$10V_AH,10.7,0.141
$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,28.275,33.750,272.225,259.350,0.000,0.000,0.000,0.000,1.500,0.000,0.000,15.517,327.407,267.107,581.039,453.539,56.364,29.237,887.056,0.000,455.206,0.000,0.471
$DEVICE_MAMPS,177.944,128.856,839.865,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,148.594,161.002,390.668,231.198,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12862,226
$CAP_FILE_SIZE,40263,0
$CFSIZE,260165632,257413120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050308,221915,4807.843,-12223.078,13,1.3,13,18.3