version: 66.03
glider: 140
mission: 4
dive: 8
start: 3 6 108 4 49 57
data:
$ID,140
$MISSION,4
$DIVE,8
$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,-12496.185
$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,8
$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
$GPS1,044056,4805.612,-12221.452,8,2.0,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.7
$GPS2,044859,4805.559,-12221.414,16,2.1,35,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.237
$KALMAN_X,319.6,120.0,24.7,1650.1,61.9
$KALMAN_Y,-845.8,-326.9,-70.9,-3210.1,-74.6
$MHEAD_RNG_PITCHd_Wd,137.7,1155,-17.5,-10.000
$D_GRID,110
$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,-146.6,0.0,0.0,0,121,0.00,0.00,-97.65,0.000,2,0.000,0.000,590,2047,3144
$GC,124,-1.41,-146.6,3.3,-3.8,18,170,12.23,3.00,-23.73,0.000,4,0.182,0.143,2673,637,3980
$GC,423,-1.04,-146.6,35.4,-13.1,71,430,0.45,2.80,0.00,0.000,6,0.111,0.108,2760,2049,3980
$GC,499,-1.15,-146.6,42.6,-8.5,84,505,0.00,2.95,0.00,0.000,4,0.000,0.133,2760,637,3980
$GC,580,-1.22,-146.6,49.8,-8.9,98,587,0.17,2.80,0.00,0.000,6,0.057,0.106,2716,2056,3980
$GC,655,-1.22,-146.6,57.3,-10.0,111,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2056,3980
$GC,797,-1.22,-146.6,71.4,-10.3,136,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2057,3980
$GC,938,-1.22,-146.6,85.6,-9.8,161,944,0.00,3.00,0.00,0.000,4,0.000,0.136,2716,633,3980
$GC,967,-1.15,-146.6,88.6,-10.3,166,974,0.12,2.83,0.00,0.000,6,0.105,0.109,2739,2058,3980
$GC,1112,-1.22,-146.6,101.5,-8.7,191,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2058,3980
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1210,-0.35,0.0,110.1,8.7,208,1291,0.82,0.00,73.68,0.916,6,0.100,0.000,2908,2058,3600
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1294,1.41,146.6,113.0,0.0,223,1417,1.75,3.10,114.03,0.885,4,0.066,0.137,3298,632,3001
$GC,1436,1.07,227.0,112.0,6.3,249,1506,0.38,2.85,62.75,0.858,6,0.116,0.106,3227,2050,2674
$GC,1641,1.07,227.0,92.8,10.0,286,1647,0.00,2.80,0.00,0.000,4,0.000,0.110,3227,3461,2674
$GC,1743,1.07,227.0,82.1,10.5,304,1749,0.00,2.78,0.00,0.000,6,0.000,0.102,3227,2043,2674
$GC,1885,1.07,227.2,68.0,10.0,329,1891,0.00,2.80,0.00,0.000,4,0.000,0.107,3227,3461,2674
$GC,1920,1.07,227.2,64.3,10.5,335,1926,0.00,2.78,0.00,0.000,6,0.000,0.100,3227,2042,2674
$GC,2062,1.14,233.3,50.4,9.7,360,2073,0.00,0.00,6.57,0.713,6,0.000,0.000,3227,2042,2648
$GC,2142,1.22,233.3,42.4,10.0,374,2149,0.12,2.80,0.00,0.000,4,0.068,0.106,3258,3464,2648
$GC,2172,1.12,233.3,39.0,11.3,379,2179,0.12,2.75,0.00,0.000,6,0.114,0.100,3236,2049,2649
$GC,2248,1.12,234.4,31.2,9.9,392,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2049,2649
$GC,2321,1.12,234.4,23.8,10.2,405,2328,0.00,2.78,0.00,0.000,4,0.000,0.106,3236,3465,2648
$GC,2356,1.12,234.4,20.0,11.1,411,2363,0.00,2.75,0.00,0.000,6,0.000,0.098,3236,2048,2648
$GC,2431,1.12,234.4,12.2,10.2,424,2437,0.00,2.92,0.00,0.000,4,0.000,0.133,3236,637,2648
$GC,2444,1.12,234.4,10.8,10.3,426,2450,0.00,2.75,0.00,0.000,6,0.000,0.100,3236,2048,2648
$GC,2519,1.41,303.1,4.0,6.8,439,2581,0.25,2.80,55.00,0.845,4,0.051,0.102,3305,3463,2363
$GC,2835,1.78,500.5,2.3,0.9,495,2870,0.32,2.75,29.20,0.834,2,0.050,0.100,3383,2045,2211
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,1.8,1.018879
$STATE,2882,end surface coast,CONTROL_FINISHED_OK
$STATE,2882,begin surface
$SM_CCo,2903,292.45,0.793,0,0,700,711.37
$SM_GC,0.91,0.00,0.00,292.45,0.000,0.000,0.793,593,2045,700,-11.03,-0.08,711.37
$IRIDIUM_FIX,4748.51,-12208.51,310597,040403
$TT8_MAMPS,0.02301
$HUMID,1542
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,17.90
$XPDR_PINGS,29
$24V_AH,23.7,6.336
$10V_AH,10.7,0.511
$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,29.600,56.775,341.225,292.450,0.000,58.148,156.146,96.852,7.250,0.000,0.000,36.319,723.043,911.905,700.031,935.816,426.725,33.323,1209.442,0.000,914.510,0.000,0.468
$DEVICE_MAMPS,181.779,143.429,915.798,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,341.334,374.157,642.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28564,503
$CAP_FILE_SIZE,54196,0
$CFSIZE,260165632,257155072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,054420,4805.278,-12221.136,14,2.0,31,18.3