version: 66.03
glider: 140
mission: 4
dive: 9
start: 3 6 108 5 49 15
data:
$ID,140
$MISSION,4
$DIVE,9
$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,600
$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,-12511.446
$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
$GPS1,054420,4805.278,-12221.136,14,2.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.7
$GPS2,054815,4805.239,-12221.117,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,-0.187
$KALMAN_X,398.6,131.7,55.8,1895.2,52.0
$KALMAN_Y,-914.2,-323.0,-79.8,-3732.3,-39.5
$MHEAD_RNG_PITCHd_Wd,148.6,466,-24.6,-10.000
$D_GRID,108
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.82,-77.1,0.0,0.0,0,110,0.00,0.00,-86.43,0.000,2,0.000,0.000,593,2045,2916
$GC,113,-1.90,-141.9,3.1,-4.4,16,165,11.55,2.85,-30.73,0.000,4,0.179,0.119,2567,3461,3980
$GC,172,-1.45,-146.6,6.6,-7.8,26,179,0.55,2.75,0.00,0.000,6,0.130,0.101,2669,2048,3980
$GC,247,-1.55,-146.6,15.3,-11.6,39,254,0.00,2.95,0.00,0.000,4,0.000,0.133,2669,635,3980
$GC,507,-1.65,-146.6,49.1,-13.6,85,514,0.17,2.83,0.00,0.000,6,0.061,0.110,2627,2055,3981
$GC,581,-1.65,-146.6,60.2,-14.8,98,588,0.00,2.97,0.00,0.000,4,0.000,0.133,2627,633,3981
$GC,786,-1.65,-146.6,91.2,-15.0,134,792,0.00,2.83,0.00,0.000,6,0.000,0.109,2627,2055,3982
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,908,-0.35,0.0,108.7,14.3,155,988,1.40,0.00,73.57,0.904,6,0.110,0.000,2906,2056,3600
$STATE,989,end apogee,CONTROL_FINISHED_OK
$STATE,989,begin climb
$GC,991,1.91,146.6,112.4,0.0,170,1114,2.25,2.90,113.82,0.867,4,0.066,0.110,3408,3461,3001
$GC,1232,1.43,146.6,97.8,13.5,214,1240,0.55,2.78,0.00,0.000,6,0.122,0.103,3306,2046,3001
$GC,1376,1.43,147.3,83.0,9.9,239,1382,0.00,2.80,0.00,0.000,4,0.000,0.105,3306,3466,3001
$GC,1456,1.34,147.3,74.8,10.3,253,1462,0.12,2.78,0.00,0.000,6,0.131,0.100,3285,2045,3001
$GC,1599,1.46,159.4,61.9,8.9,278,1618,0.10,2.83,11.43,0.799,4,0.077,0.104,3309,3467,2950
$GC,1635,1.46,159.4,58.3,10.3,284,1641,0.00,2.78,0.00,0.000,6,0.000,0.099,3309,2046,2949
$GC,1777,1.46,159.4,44.0,10.2,309,1783,0.00,2.78,0.00,0.000,4,0.000,0.105,3309,3465,2950
$GC,1818,1.40,159.4,39.6,10.8,316,1824,0.00,2.75,0.00,0.000,6,0.000,0.098,3308,2047,2949
$GC,1893,1.40,159.4,31.9,10.0,329,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2046,2949
$GC,1967,1.40,159.7,24.2,10.0,342,1973,0.00,2.78,0.00,0.000,4,0.000,0.104,3308,3469,2949
$GC,2013,1.31,159.7,19.2,10.8,350,2020,0.17,2.75,0.00,0.000,6,0.122,0.099,3278,2045,2950
$GC,2089,1.52,163.9,11.7,9.6,363,2101,0.15,0.00,5.20,0.648,6,0.067,0.000,3318,2045,2932
$GC,2170,1.62,183.2,3.9,8.3,377,2194,0.10,2.95,16.00,0.821,4,0.075,0.128,3344,636,2852
$STATE,2329,end climb,NO_VERTICAL_VELOCITY
$STATE,2329,begin surface
$SM_CCo,2332,450.17,0.781,1,0,520,755.52
$SM_GC,0.89,12.30,0.00,0.00,0.048,0.000,0.000,592,2049,514,-10.99,0.03,757.00
$IRIDIUM_FIX,4748.51,-12214.67,310597,040456
$TT8_MAMPS,0.02301
$HUMID,1544
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,17.90
$XPDR_PINGS,23
$24V_AH,23.7,6.497
$10V_AH,10.7,0.556
$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,29.425,50.900,220.025,450.175,0.000,24.029,11.814,111.240,5.750,0.000,0.000,14.634,598.672,796.407,764.323,738.178,249.395,33.320,1170.827,0.000,739.069,0.000,0.469
$DEVICE_MAMPS,179.478,133.458,904.293,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,274.900,302.532,516.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22309,405
$CAP_FILE_SIZE,45743,0
$CFSIZE,260165632,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,063835,4805.043,-12220.883,13,99.0,32,18.3