version: 66.03
glider: 140
mission: 4
dive: 13
start: 3 6 108 9 48 37
data:
$ID,140
$MISSION,4
$DIVE,13
$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,755.52399
$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,-12575.615
$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
$GPS1,093403,4805.172,-12221.394,12,1.4,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.8
$GPS2,094738,4805.053,-12221.288,11,1.4,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.109,0.236
$KALMAN_X,769.2,171.5,134.9,1195.7,-57.8
$KALMAN_Y,-1749.5,-320.9,-130.7,-3190.4,-37.0
$MHEAD_RNG_PITCHd_Wd,317.0,6405,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.41,-146.6,0.0,0.0,0,133,0.00,0.00,-108.38,0.000,2,0.000,0.000,592,2042,3155
$GC,136,-1.41,-146.6,3.1,-3.8,20,176,12.27,0.00,-20.52,0.000,6,0.183,0.000,2675,2042,3980
$GC,245,-1.02,-146.6,13.0,-9.5,39,252,0.45,2.78,0.00,0.000,4,0.118,0.106,2762,3461,3980
$GC,271,-0.91,-146.6,15.4,-9.8,43,278,0.15,2.75,0.00,0.000,6,0.111,0.100,2789,2043,3980
$GC,347,-1.07,-146.6,20.5,-6.5,56,353,0.15,0.00,0.00,0.000,6,0.062,0.000,2750,2043,3981
$GC,421,-1.07,-146.6,26.6,-8.5,69,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2043,3980
$GC,495,-1.07,-146.6,32.9,-8.6,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2043,3981
$GC,570,-1.15,-146.6,39.1,-8.4,95,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2043,3980
$GC,644,-1.22,-146.6,45.4,-8.4,108,650,0.12,0.00,0.00,0.000,6,0.067,0.000,2719,2043,3980
$GC,719,-1.22,-146.6,52.6,-9.8,121,725,0.00,2.95,0.00,0.000,4,0.000,0.135,2719,636,3980
$GC,754,-1.13,-146.6,56.3,-10.4,127,761,0.12,2.80,0.00,0.000,6,0.106,0.106,2742,2054,3980
$GC,898,-1.19,-146.6,68.9,-8.7,152,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2054,3980
$GC,1040,-1.27,-146.6,81.2,-8.8,177,1046,0.12,2.78,0.00,0.000,4,0.067,0.108,2710,3466,3980
$GC,1069,-1.27,-146.6,84.4,-10.3,182,1075,0.00,2.75,0.00,0.000,6,0.000,0.101,2710,2046,3980
$GC,1211,-1.27,-146.6,98.9,-10.3,207,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2045,3980
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1321,-0.35,0.0,110.0,10.2,226,1401,0.95,0.00,73.12,0.885,6,0.104,0.000,2903,2045,3600
$STATE,1402,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1404,1.41,146.6,113.2,0.0,241,1527,1.77,2.97,113.15,0.856,4,0.070,0.138,3293,638,3001
$GC,1545,1.09,222.9,111.7,6.5,267,1615,0.35,2.83,59.60,0.849,6,0.117,0.104,3228,2056,2690
$GC,1750,1.10,232.7,93.4,9.6,304,1767,0.00,2.85,9.23,0.775,4,0.000,0.110,3228,3460,2651
$GC,1835,1.10,232.7,84.8,10.1,319,1841,0.00,2.75,0.00,0.000,6,0.000,0.100,3228,2048,2651
$GC,1977,1.18,245.6,71.2,9.4,344,1995,0.00,2.83,11.62,0.804,4,0.000,0.105,3228,3467,2598
$GC,2029,1.18,249.4,66.1,9.8,353,2041,0.00,2.78,4.53,0.597,6,0.000,0.099,3228,2045,2583
$GC,2179,1.30,266.0,51.9,9.2,379,2202,0.15,2.83,14.75,0.822,4,0.063,0.104,3271,3466,2515
$GC,2220,1.16,266.0,47.0,12.4,386,2227,0.15,2.75,0.00,0.000,6,0.111,0.098,3244,2049,2515
$GC,2295,1.23,266.0,38.8,10.4,399,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2049,2515
$GC,2370,1.29,266.0,31.0,10.8,412,2376,0.12,0.00,0.00,0.000,6,0.067,0.000,3275,2049,2515
$GC,2444,1.22,266.0,22.3,12.0,425,2450,0.00,2.75,0.00,0.000,4,0.000,0.104,3275,3460,2515
$GC,2480,1.07,266.0,17.9,12.5,431,2487,0.25,2.72,0.00,0.000,6,0.105,0.097,3227,2045,2514
$GC,2555,1.28,294.0,10.7,8.7,444,2585,0.15,2.80,23.40,0.820,4,0.063,0.103,3270,3459,2400
$GC,2643,1.63,435.4,4.7,3.5,459,2744,0.32,2.72,94.15,0.811,2,0.054,0.098,3345,2048,1905
$STATE,2745,end climb,SURFACE_DEPTH_REACHED
$STATE,2745,begin surface coast
$FINISH,0.6,1.016529
$STATE,2794,end surface coast,CONTROL_FINISHED_OK
$STATE,2794,begin surface
$SM_CCo,2815,270.02,0.760,2,0,520,755.52
$SM_GC,0.84,0.00,0.00,270.02,0.000,0.000,0.760,589,2047,520,-11.04,-0.03,755.52
$IRIDIUM_FIX,4745.30,-12220.12,310597,090902
$TT8_MAMPS,0.02301
$HUMID,1537
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,17.90
$XPDR_PINGS,29
$24V_AH,23.7,7.149
$10V_AH,10.7,0.763
$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,30.200,50.375,403.550,270.025,0.000,142.637,145.179,180.405,7.250,0.000,0.000,16.179,682.594,1005.690,743.508,885.324,605.992,33.326,1269.202,0.000,884.318,0.000,0.468
$DEVICE_MAMPS,183.313,138.060,885.118,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,327.629,357.916,610.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28591,486
$CAP_FILE_SIZE,60581,0
$CFSIZE,260165632,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060308,104051,4805.360,-12221.625,10,1.3,10,18.3