version: 66.03
glider: 140
mission: 4
dive: 2
start: 3 5 108 22 41 45
data:
$ID,140
$MISSION,4
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,75
$D_ABORT,150
$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,25
$T_MISSION,40
$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,-12312.021
$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,9
$R_STBD_OVSHOOT,10
$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,100
$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
$GPS1,223456,4807.808,-12223.005,6,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.2
$GPS2,224050,4807.795,-12222.985,9,1.8,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.238
$KALMAN_X,17.7,17.7,17.7,118.7,34.2
$KALMAN_Y,-25.6,-25.6,-25.6,-236.7,-49.4
$MHEAD_RNG_PITCHd_Wd,137.8,5730,-17.5,-10.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.41,-146.6,0.0,0.0,0,153,0.00,0.00,-129.90,0.000,2,0.000,0.000,590,2040,3723
$GC,156,-1.41,-146.6,3.2,-5.3,24,181,12.07,2.80,-6.20,0.000,4,0.178,0.118,2685,3461,3979
$GC,436,-1.26,-146.6,34.2,-11.7,73,443,0.20,2.75,0.00,0.000,6,0.115,0.101,2722,2044,3980
$GC,512,-1.26,-146.6,41.9,-9.9,86,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2043,3980
$GC,586,-1.26,-146.6,49.4,-9.9,99,593,0.00,2.83,0.00,0.000,4,0.000,0.114,2722,3464,3980
$GC,600,-1.26,-146.6,50.7,-9.5,101,606,0.00,2.78,0.00,0.000,6,0.000,0.103,2722,2042,3980
$GC,741,-1.26,-146.6,64.5,-9.6,126,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2042,3980
$STATE,852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,852,begin apogee
$GC,857,-0.35,0.0,75.3,9.6,146,963,0.95,0.00,99.97,0.904,6,0.101,0.000,2918,2042,3460
$STATE,964,end apogee,CONTROL_FINISHED_OK
$STATE,964,begin climb
$GC,966,1.41,146.6,78.6,0.0,166,1090,1.75,2.92,114.75,0.877,4,0.066,0.107,3302,3462,2862
$GC,1130,0.93,146.6,70.7,11.7,196,1137,0.50,2.78,0.00,0.000,6,0.106,0.100,3205,2046,2861
$GC,1274,1.06,195.5,58.8,7.8,221,1323,0.12,2.88,39.30,0.852,4,0.068,0.105,3236,3462,2663
$GC,1352,0.98,195.5,51.2,11.1,235,1359,0.12,2.78,0.00,0.000,6,0.113,0.097,3214,2045,2663
$GC,1498,1.10,207.5,37.3,9.4,260,1516,0.10,2.83,11.15,0.776,4,0.075,0.105,3239,3464,2612
$GC,1557,1.04,207.5,30.6,11.2,270,1563,0.00,2.75,0.00,0.000,6,0.000,0.097,3239,2047,2612
$GC,1633,1.04,207.5,22.1,11.1,283,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2047,2612
$GC,1706,1.04,207.5,13.8,10.8,296,1713,0.00,2.80,0.00,0.000,4,0.000,0.107,3239,3466,2612
$GC,1730,1.04,207.5,11.2,11.1,300,1737,0.00,2.75,0.00,0.000,6,0.000,0.097,3239,2040,2612
$GC,1807,1.19,239.6,4.1,8.5,313,1841,0.00,3.00,25.58,0.825,4,0.000,0.129,3239,635,2483
$STATE,1845,end climb,SURFACE_DEPTH_REACHED
$STATE,1845,begin surface coast
$FINISH,1.8,1.018701
$STATE,1914,end surface coast,CONTROL_FINISHED_OK
$STATE,1914,begin surface
$SM_CCo,1937,280.45,0.802,0,0,559,711.37
$SM_GC,0.94,0.00,0.00,280.45,0.000,0.000,0.802,590,2050,559,-11.09,0.06,711.37
$IRIDIUM_FIX,4751.72,-12223.57,300597,222222
$TT8_MAMPS,0.02301
$HUMID,1561
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,18.00
$XPDR_PINGS,12
$24V_AH,23.8,5.298
$10V_AH,10.7,0.189
$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,27.800,39.475,290.750,280.450,0.000,0.000,0.000,0.000,3.000,0.000,0.000,14.070,466.166,500.082,639.505,617.130,63.909,30.181,1013.175,0.000,616.864,0.000,0.468
$DEVICE_MAMPS,177.944,128.856,904.293,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,222.855,194.184,456.279,269.910,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19190,332
$CAP_FILE_SIZE,46861,0
$CFSIZE,260165632,257363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050308,231926,4807.604,-12222.925,10,1.6,15,18.3