version: 66.03
glider: 140
mission: 4
dive: 14
start: 3 6 108 10 59 33
data:
$ID,140
$MISSION,4
$DIVE,14
$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,-12593.857
$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
$GPS1,104051,4805.360,-12221.625,10,1.3,10,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.0
$GPS2,105833,4805.252,-12221.565,17,1.4,17,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.111,0.235
$KALMAN_X,750.8,146.7,83.3,949.0,-68.7
$KALMAN_Y,-1899.2,-315.6,-117.5,-2690.7,9.8
$MHEAD_RNG_PITCHd_Wd,316.5,5912,-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,19,begin dive
$GC,21,-1.41,-146.6,0.0,0.0,0,138,0.00,0.00,-113.78,0.000,2,0.000,0.000,589,2047,3342
$GC,141,-1.41,-146.6,3.8,-6.5,21,176,12.25,2.83,-14.02,0.000,4,0.183,0.117,2675,3460,3980
$GC,217,-1.02,-146.6,12.7,-8.6,34,224,0.45,2.72,0.00,0.000,6,0.109,0.099,2762,2049,3980
$GC,292,-1.02,-146.6,18.7,-7.1,47,299,0.00,2.92,0.00,0.000,4,0.000,0.131,2762,634,3981
$GC,339,-1.02,-146.6,22.5,-8.6,55,345,0.00,2.78,0.00,0.000,6,0.000,0.104,2762,2050,3981
$GC,414,-1.08,-146.6,28.7,-8.1,68,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2050,3981
$GC,489,-1.17,-146.6,35.0,-8.4,81,495,0.12,0.00,0.00,0.000,6,0.066,0.000,2731,2051,3981
$GC,563,-1.17,-146.6,42.3,-9.7,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$GC,637,-1.17,-146.6,49.3,-9.5,107,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$GC,711,-1.17,-146.6,56.2,-9.4,120,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$GC,853,-1.17,-146.6,69.4,-9.2,145,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$GC,993,-1.17,-146.6,82.3,-9.2,170,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$GC,1135,-1.17,-146.6,95.0,-8.9,195,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2051,3981
$GC,1275,-1.17,-146.6,108.0,-9.3,220,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,3981
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1301,-0.35,0.0,110.1,8.9,224,1381,0.85,0.00,73.70,0.917,6,0.097,0.000,2906,2051,3599
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,1.41,146.6,112.8,0.0,239,1508,1.75,3.05,113.60,0.879,4,0.065,0.134,3296,634,3001
$GC,1531,1.06,210.5,110.5,7.1,266,1591,0.38,2.80,50.40,0.866,6,0.117,0.104,3226,2048,2740
$GC,1726,1.08,225.0,93.3,9.3,301,1749,0.00,2.88,12.82,0.828,4,0.000,0.109,3226,3458,2682
$GC,1811,1.08,225.0,84.8,10.0,316,1817,0.00,2.75,0.00,0.000,6,0.000,0.099,3226,2047,2682
$GC,1954,1.15,228.2,70.8,9.8,341,1965,0.00,2.80,4.28,0.592,4,0.000,0.106,3226,3464,2669
$GC,1989,1.15,228.2,67.1,10.9,347,1995,0.00,2.75,0.00,0.000,6,0.000,0.098,3226,2048,2669
$GC,2130,1.24,238.1,53.2,9.5,372,2148,0.15,2.83,9.23,0.781,4,0.064,0.104,3267,3459,2629
$GC,2166,1.11,238.1,49.2,12.0,378,2174,0.17,2.72,0.00,0.000,6,0.110,0.098,3235,2048,2629
$GC,2242,1.11,238.1,41.4,10.2,391,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2048,2629
$GC,2316,1.12,242.5,34.1,9.8,404,2328,0.00,2.78,5.22,0.661,4,0.000,0.104,3235,3461,2611
$GC,2368,1.12,242.5,28.6,10.7,413,2374,0.00,2.72,0.00,0.000,6,0.000,0.097,3235,2047,2611
$GC,2443,1.18,243.7,21.1,9.9,426,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2047,2612
$GC,2517,1.25,248.9,13.8,9.8,439,2531,0.12,2.80,6.85,0.732,4,0.070,0.103,3266,3470,2585
$GC,2549,1.18,248.9,10.2,11.4,444,2555,0.00,2.75,0.00,0.000,6,0.000,0.096,3266,2042,2585
$GC,2624,1.52,371.0,3.6,4.4,457,2730,0.20,2.90,94.35,0.826,4,0.054,0.103,3322,3478,2084
$STATE,2781,end climb,SURFACE_DEPTH_REACHED
$STATE,2781,begin surface coast
$FINISH,1.2,1.017562
$STATE,2876,end surface coast,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$SM_CCo,2900,177.40,0.784,0,0,1154,600.00
$SM_GC,0.98,0.00,0.00,177.40,0.000,0.000,0.784,591,2046,1154,-11.04,-0.06,600.00
$IRIDIUM_FIX,4751.72,-12226.29,310597,111126
$TT8_MAMPS,0.02301
$HUMID,1533
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.80
$XPDR_PINGS,28
$24V_AH,23.7,7.317
$10V_AH,10.7,0.822
$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,28.900,50.600,370.450,177.400,0.000,135.790,88.449,484.362,7.000,0.000,0.000,17.613,708.983,1053.682,624.586,916.447,848.229,33.320,1154.818,0.000,913.899,0.000,0.468
$DEVICE_MAMPS,182.546,134.225,917.332,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,339.985,370.004,636.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28558,502
$CAP_FILE_SIZE,66080,0
$CFSIZE,260165632,256933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,115147,4805.545,-12221.838,8,2.2,27,18.3