version: 66.03
glider: 140
mission: 4
dive: 7
start: 3 6 108 3 48 18
data:
$ID,140
$MISSION,4
$DIVE,7
$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,-12459.239
$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
$GPS1,033805,4806.027,-12221.718,14,99.0,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-68.2
$GPS2,034720,4805.961,-12221.679,13,1.8,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,-0.241
$KALMAN_X,242.4,107.7,5.6,1429.3,59.1
$KALMAN_Y,-681.0,-298.9,-73.1,-2655.4,-46.0
$MHEAD_RNG_PITCHd_Wd,139.8,1968,-17.5,-10.000
$D_GRID,109
$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,22,-1.41,-146.6,0.0,0.0,0,127,0.00,0.00,-102.43,0.000,2,0.000,0.000,592,2048,3085
$GC,130,-1.41,-146.6,3.2,-3.6,19,176,12.07,2.80,-25.85,0.000,4,0.178,0.120,2673,3461,3980
$GC,380,-1.16,-146.6,27.0,-12.5,63,387,0.30,2.78,0.00,0.000,6,0.116,0.103,2731,2042,3980
$GC,455,-1.16,-146.6,34.6,-9.6,76,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2042,3980
$GC,529,-1.16,-146.6,41.5,-9.3,89,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2042,3980
$GC,603,-1.16,-146.6,48.5,-9.4,102,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2042,3981
$GC,677,-1.16,-146.6,55.5,-9.4,115,683,0.00,2.97,0.00,0.000,4,0.000,0.137,2731,633,3981
$GC,712,-1.16,-146.6,59.0,-10.2,121,718,0.00,2.83,0.00,0.000,6,0.000,0.109,2730,2049,3981
$GC,853,-1.16,-146.6,72.5,-9.3,146,860,0.00,2.80,0.00,0.000,4,0.000,0.110,2730,3466,3981
$GC,878,-1.24,-146.6,74.8,-9.6,150,884,0.00,2.75,0.00,0.000,6,0.000,0.102,2730,2048,3981
$GC,1020,-1.24,-146.6,87.8,-9.0,175,1026,0.00,2.97,0.00,0.000,4,0.000,0.137,2730,635,3981
$GC,1057,-1.24,-146.6,91.2,-9.8,181,1063,0.00,2.83,0.00,0.000,6,0.000,0.109,2730,2052,3981
$GC,1198,-1.24,-146.6,104.5,-9.0,206,1204,0.00,2.78,0.00,0.000,4,0.000,0.111,2731,3461,3981
$GC,1217,-1.24,-146.6,106.2,-9.2,209,1223,0.00,2.78,0.00,0.000,6,0.000,0.102,2730,2045,3981
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1255,-0.35,0.0,109.4,9.2,215,1335,0.85,0.00,73.57,0.891,6,0.102,0.000,2904,2045,3599
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1338,1.41,146.6,112.2,0.0,230,1461,1.77,3.08,114.07,0.880,4,0.067,0.141,3291,633,3002
$GC,1478,1.09,228.1,110.9,6.3,256,1549,0.32,2.83,63.55,0.852,6,0.117,0.104,3231,2046,2670
$GC,1685,1.09,228.1,91.0,10.5,293,1691,0.00,2.83,0.00,0.000,4,0.000,0.110,3231,3461,2670
$GC,1787,1.09,228.1,79.8,10.8,311,1793,0.00,2.78,0.00,0.000,6,0.000,0.102,3231,2049,2670
$GC,1929,1.10,232.0,65.5,9.8,336,1940,0.00,2.83,4.78,0.614,4,0.000,0.105,3231,3467,2654
$GC,1963,1.10,232.0,61.9,10.6,342,1969,0.00,2.78,0.00,0.000,6,0.000,0.100,3231,2042,2654
$GC,2105,1.10,232.0,47.6,10.1,367,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2042,2655
$GC,2179,1.10,232.0,40.1,10.3,380,2185,0.00,2.80,0.00,0.000,4,0.000,0.106,3231,3468,2654
$GC,2214,1.10,232.0,36.3,11.0,386,2220,0.00,2.78,0.00,0.000,6,0.000,0.100,3231,2041,2655
$GC,2288,1.10,232.0,28.6,10.4,399,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2042,2655
$GC,2362,1.17,232.0,21.3,10.0,412,2368,0.00,2.78,0.00,0.000,4,0.000,0.104,3231,3462,2654
$GC,2403,1.17,232.0,17.1,10.3,419,2410,0.00,2.75,0.00,0.000,6,0.000,0.099,3231,2045,2655
$GC,2478,1.25,232.0,9.4,10.5,432,2484,0.12,0.00,0.00,0.000,6,0.067,0.000,3263,2045,2654
$GC,2553,1.46,337.4,3.1,5.2,445,2642,0.15,2.83,82.22,0.828,4,0.061,0.104,3305,3463,2223
$GC,2696,1.91,546.5,2.4,0.4,470,2748,0.45,2.78,45.55,0.803,2,0.046,0.099,3412,2047,1988
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,0.2,1.017376
$STATE,2838,end surface coast,CONTROL_FINISHED_OK
$STATE,2838,begin surface
$SM_CCo,2859,249.50,0.773,0,0,700,711.37
$SM_GC,0.94,0.00,0.00,249.50,0.000,0.000,0.773,590,2047,700,-11.04,-0.03,711.37
$IRIDIUM_FIX,4748.51,-12221.84,310597,030313
$TT8_MAMPS,0.02301
$HUMID,1527
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.00
$XPDR_PINGS,24
$24V_AH,23.7,6.170
$10V_AH,10.7,0.456
$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,28.700,62.075,383.750,249.500,0.000,87.296,147.882,95.239,6.000,0.000,0.000,30.908,700.081,918.752,696.424,918.215,449.513,33.331,1220.505,0.000,901.031,0.000,0.468
$DEVICE_MAMPS,177.944,141.128,891.254,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,334.825,365.336,632.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28606,495
$CAP_FILE_SIZE,55500,0
$CFSIZE,260165632,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,044056,4805.612,-12221.452,8,2.0,13,18.3