version: 66.03
glider: 140
mission: 4
dive: 4
start: 3 6 108 0 48 36
data:
$ID,140
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,90
$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,-12396.967
$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,0.059999999
$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,3600
$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
$GPS1,004420,4807.122,-12222.697,8,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-58.9
$GPS2,004739,4807.101,-12222.695,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.223
$KALMAN_X,-11.0,10.1,12.7,521.1,-1.7
$KALMAN_Y,-237.8,-135.4,-101.4,-1121.5,-50.4
$MHEAD_RNG_PITCHd_Wd,130.8,4420,-17.5,-10.000
$D_GRID,107
$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,21,-1.41,-146.6,0.0,0.0,0,149,0.00,0.00,-124.95,0.000,2,0.000,0.000,590,2056,3605
$GC,152,-1.41,-146.6,3.5,-6.6,23,181,12.07,3.00,-9.27,0.000,4,0.178,0.140,2675,638,3981
$GC,435,-1.03,-146.6,34.8,-12.3,73,442,0.45,2.80,0.00,0.000,6,0.107,0.108,2763,2053,3981
$GC,511,-1.15,-146.6,41.9,-8.7,86,518,0.10,2.95,0.00,0.000,4,0.072,0.133,2736,638,3981
$GC,530,-1.15,-146.6,43.7,-9.0,89,536,0.00,2.80,0.00,0.000,6,0.000,0.108,2737,2050,3981
$GC,604,-1.15,-146.6,50.8,-9.2,102,611,0.00,2.80,0.00,0.000,4,0.000,0.112,2736,3459,3981
$GC,629,-1.23,-146.6,53.2,-10.0,106,635,0.00,2.75,0.00,0.000,6,0.000,0.102,2737,2043,3981
$GC,772,-1.23,-146.6,66.1,-8.7,131,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2043,3981
$GC,913,-1.23,-146.6,78.6,-8.6,156,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2043,3981
$GC,1055,-1.30,-146.6,91.0,-8.8,181,1061,0.15,0.00,0.00,0.000,6,0.066,0.000,2695,2043,3982
$GC,1196,-1.21,-146.6,105.7,-10.9,206,1203,0.15,2.80,0.00,0.000,4,0.108,0.109,2727,3462,3981
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1215,-0.35,0.0,107.1,10.2,208,1296,0.88,0.00,73.78,0.890,6,0.103,0.000,2905,2043,3599
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1299,1.41,146.6,110.1,0.0,223,1427,1.75,3.10,114.35,0.870,4,0.068,0.138,3295,637,3002
$GC,1450,1.03,205.3,108.2,7.3,251,1505,0.40,2.83,46.80,0.871,6,0.115,0.106,3218,2046,2762
$GC,1640,1.05,217.0,91.2,9.5,285,1657,0.00,2.88,10.82,0.794,4,0.000,0.111,3219,3468,2714
$GC,1714,1.05,217.0,83.8,10.2,298,1720,0.00,2.78,0.00,0.000,6,0.000,0.101,3219,2049,2715
$GC,1858,1.14,234.1,70.1,9.2,323,1879,0.00,0.00,15.05,0.825,6,0.000,0.000,3219,2050,2645
$GC,2017,1.25,246.7,54.8,9.4,351,2035,0.15,2.83,11.25,0.798,4,0.189,0.105,3257,3461,2593
$GC,2115,1.12,246.7,43.1,12.6,368,2121,0.12,2.75,0.00,0.000,6,0.114,0.100,3235,2048,2593
$GC,2190,1.12,246.7,34.9,10.3,381,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2049,2593
$GC,2263,1.12,246.7,27.0,11.4,394,2269,0.00,2.80,0.00,0.000,4,0.000,0.107,3234,3471,2594
$GC,2309,1.12,246.7,21.7,11.2,402,2316,0.00,2.78,0.00,0.000,6,0.000,0.099,3235,2045,2593
$GC,2385,1.19,247.8,14.0,10.0,415,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2045,2593
$GC,2459,1.31,272.9,6.7,8.8,428,2488,0.15,2.97,22.17,0.831,4,0.064,0.130,3277,633,2487
$GC,2495,1.31,272.9,2.7,11.6,434,2501,0.00,2.83,0.00,0.000,6,0.000,0.104,3276,2054,2486
$STATE,2505,end climb,SURFACE_DEPTH_REACHED
$STATE,2505,begin surface coast
$FINISH,1.4,1.018498
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2544,348.30,0.802,2,0,700,711.37
$SM_GC,0.95,0.00,0.00,348.30,0.000,0.000,0.802,590,2055,700,-11.04,0.20,711.37
$IRIDIUM_FIX,4751.72,-12228.02,310597,000006
$TT8_MAMPS,0.02301
$HUMID,1528
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,18.00
$XPDR_PINGS,19
$24V_AH,23.7,5.668
$10V_AH,10.7,0.300
$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,28.550,51.250,294.225,348.300,0.000,0.000,0.000,0.000,4.750,0.000,0.000,12.766,634.825,728.032,741.809,793.067,79.375,32.332,1198.280,0.000,794.943,0.000,0.469
$DEVICE_MAMPS,188.682,139.594,889.720,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,295.842,325.261,535.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25382,439
$CAP_FILE_SIZE,65272,0
$CFSIZE,260165632,257269760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060308,013805,4806.803,-12222.401,11,3.3,30,18.3