version: 66.03
glider: 140
mission: 4
dive: 10
start: 3 6 108 6 50 55
data:
$ID,140
$MISSION,4
$DIVE,10
$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,-12529.022
$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
$GPS1,063835,4805.043,-12220.883,13,99.0,32,18.3
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.2
$GPS2,064956,4804.894,-12220.742,10,1.1,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.090
$KALMAN_X,623.6,161.4,114.1,2040.9,49.3
$KALMAN_Y,-1073.9,-334.9,-108.6,-4167.9,-1.3
$MHEAD_RNG_PITCHd_Wd,279.9,374,-24.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.84,-75.5,0.0,0.0,0,133,0.00,0.00,-108.22,0.000,2,0.000,0.000,592,2050,3179
$GC,136,-1.87,-100.0,3.6,-7.8,20,177,11.45,2.80,-22.90,0.000,4,0.176,0.117,2573,3467,3979
$GC,425,-1.68,-100.0,46.5,-18.1,71,432,0.25,2.78,0.00,0.000,6,0.133,0.103,2618,2045,3979
$GC,499,-1.68,-100.0,58.9,-16.6,84,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2044,3979
$GC,640,-1.68,-100.0,80.8,-15.0,109,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2045,3979
$GC,782,-1.68,-100.0,102.4,-15.2,134,788,0.00,2.95,0.00,0.000,4,0.000,0.139,2618,638,3979
$GC,812,-1.60,-100.0,107.1,-15.4,139,818,0.12,2.83,0.00,0.000,6,0.133,0.110,2639,2053,3979
$STATE,822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,823,begin apogee
$GC,828,-0.35,0.0,109.0,15.4,141,908,1.35,0.00,73.28,0.901,6,0.114,0.000,2907,2054,3600
$STATE,908,end apogee,CONTROL_FINISHED_OK
$STATE,909,begin climb
$GC,911,1.87,100.0,112.5,0.0,156,1002,2.22,2.90,77.93,0.874,4,0.068,0.107,3400,3467,3192
$GC,1256,1.36,128.1,97.9,7.5,218,1289,0.60,2.78,23.52,0.870,6,0.125,0.101,3289,2045,3077
$GC,1425,1.46,153.5,85.4,7.7,248,1453,0.00,2.83,21.65,0.863,4,0.000,0.104,3289,3461,2973
$GC,1515,1.47,155.4,77.3,9.8,264,1522,0.00,2.78,0.00,0.000,6,0.000,0.100,3289,2041,2973
$GC,1658,1.61,168.5,64.1,8.8,289,1681,0.20,2.85,12.93,0.818,4,0.063,0.104,3339,3455,2913
$GC,1779,1.43,168.5,50.2,12.0,310,1786,0.20,2.75,0.00,0.000,6,0.121,0.100,3305,2041,2913
$GC,1923,1.51,168.5,34.7,10.5,335,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2041,2913
$GC,1997,1.62,168.5,26.6,10.9,348,2004,0.15,2.78,0.00,0.000,4,0.067,0.104,3345,3462,2912
$GC,2022,1.52,168.5,23.6,12.2,352,2029,0.12,2.75,0.00,0.000,6,0.132,0.100,3324,2048,2913
$GC,2097,1.52,168.5,14.6,11.8,365,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2048,2913
$GC,2171,1.52,168.5,6.6,10.5,378,2177,0.00,2.92,0.00,0.000,4,0.000,0.131,3324,635,2913
$GC,2207,1.75,242.6,4.9,3.4,384,2274,0.20,2.75,57.28,0.842,6,0.054,0.100,3377,2049,2611
$GC,2346,2.01,351.8,3.5,0.3,408,2441,0.17,2.85,84.70,0.821,4,0.058,0.104,3425,3456,2163
$STATE,2580,end climb,NO_VERTICAL_VELOCITY
$STATE,2580,begin surface
$SM_CCo,2583,319.98,0.789,1,0,520,755.52
$SM_GC,0.87,12.73,0.00,0.00,0.050,0.000,0.000,589,2047,514,-10.99,0.00,757.00
$IRIDIUM_FIX,4745.30,-12309.26,310597,060658
$TT8_MAMPS,0.02301
$HUMID,1541
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,17.90
$XPDR_PINGS,28
$24V_AH,23.7,6.674
$10V_AH,10.7,0.609
$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,29.775,45.100,351.275,319.975,0.000,102.801,112.738,192.620,7.000,0.000,0.000,16.944,625.016,1010.883,732.454,819.495,527.038,33.320,1207.972,0.000,823.413,0.000,0.468
$DEVICE_MAMPS,176.410,138.827,901.225,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,306.608,333.036,573.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25367,450
$CAP_FILE_SIZE,51033,0
$CFSIZE,260165632,257093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,074157,4804.845,-12220.972,14,1.8,14,18.3