version: 66.03
glider: 140
mission: 4
dive: 15
start: 3 6 108 11 59 3
data:
$ID,140
$MISSION,4
$DIVE,15
$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,-12626.962
$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
$GPS1,115147,4805.545,-12221.838,8,2.2,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.2
$GPS2,115805,4805.535,-12221.844,12,99.0,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.107,0.237
$KALMAN_X,729.8,126.3,30.0,699.4,-72.6
$KALMAN_Y,-1954.5,-289.4,-83.5,-2174.2,5.8
$MHEAD_RNG_PITCHd_Wd,317.5,5286,-17.5,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.41,-146.6,0.0,0.0,0,105,0.00,0.00,-81.72,0.000,2,0.000,0.000,592,2047,3224
$GC,108,-1.41,-146.6,3.8,-8.2,15,143,12.23,2.85,-17.25,0.000,4,0.183,0.116,2673,3468,3980
$GC,179,-1.07,-146.6,10.9,-8.8,27,186,0.40,2.75,0.00,0.000,6,0.115,0.097,2750,2039,3980
$GC,254,-1.07,-146.6,16.8,-8.2,40,261,0.00,2.90,0.00,0.000,4,0.000,0.131,2750,638,3981
$GC,307,-0.98,-146.6,21.4,-8.8,49,314,0.12,2.78,0.00,0.000,6,0.121,0.104,2771,2048,3981
$GC,383,-1.09,-146.6,27.5,-7.9,62,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2050,3981
$GC,457,-1.23,-146.6,33.7,-8.1,75,463,0.20,0.00,0.00,0.000,6,0.057,0.000,2718,2050,3981
$GC,531,-1.23,-146.6,41.3,-10.4,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2050,3981
$GC,605,-1.23,-146.6,49.1,-10.6,101,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2050,3980
$GC,680,-1.23,-146.6,56.8,-10.7,114,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2050,3981
$GC,821,-1.23,-146.6,71.3,-10.3,139,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2050,3980
$GC,961,-1.23,-146.6,85.3,-9.8,164,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2050,3981
$GC,1103,-1.23,-146.6,99.0,-9.7,189,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2050,3981
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1201,-0.35,0.0,108.3,9.6,206,1281,0.93,0.00,73.68,0.915,6,0.102,0.000,2905,2050,3599
$STATE,1282,end apogee,CONTROL_FINISHED_OK
$STATE,1282,begin climb
$GC,1285,1.41,146.6,111.2,0.0,221,1407,1.77,2.85,113.47,0.878,4,0.067,0.108,3299,3467,3001
$GC,1437,0.93,198.6,108.5,7.6,249,1486,0.55,2.78,41.12,0.853,6,0.110,0.099,3193,2048,2790
$GC,1622,1.14,233.0,93.9,8.4,282,1656,0.15,2.88,28.02,0.841,4,0.063,0.104,3235,3461,2649
$GC,1690,1.07,233.0,87.1,10.7,294,1697,0.00,2.75,0.00,0.000,6,0.000,0.098,3235,2048,2648
$GC,1832,1.07,233.0,72.3,10.3,319,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2048,2649
$GC,1972,1.07,233.0,57.7,10.2,344,1979,0.00,2.75,0.00,0.000,4,0.000,0.104,3235,3462,2649
$GC,2036,1.07,233.0,50.9,10.8,355,2042,0.00,2.75,0.00,0.000,6,0.000,0.098,3236,2044,2649
$GC,2177,1.07,233.0,36.1,10.3,380,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2044,2649
$GC,2251,1.07,233.0,28.5,10.5,393,2257,0.00,2.75,0.00,0.000,4,0.000,0.104,3235,3462,2649
$GC,2303,1.07,233.0,23.1,10.8,402,2309,0.00,2.72,0.00,0.000,6,0.000,0.099,3235,2047,2649
$GC,2377,1.07,233.0,15.6,10.5,415,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2047,2649
$GC,2451,1.16,234.6,8.5,9.9,428,2458,0.00,2.75,0.00,0.000,4,0.000,0.104,3235,3468,2649
$GC,2504,1.32,269.3,3.9,8.4,437,2539,0.17,2.72,29.30,0.821,6,0.061,0.098,3278,2047,2501
$GC,2608,1.83,480.3,2.6,0.3,455,2665,0.45,0.00,53.22,0.817,2,0.044,0.000,3390,2047,2220
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,1.2,1.018542
$STATE,2822,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2822,begin surface
$SM_CCo,2843,202.95,0.775,0,0,1154,600.00
$SM_GC,1.08,0.00,0.00,202.95,0.000,0.000,0.775,593,2046,1154,-11.03,-0.06,600.00
$IRIDIUM_FIX,4748.51,-12223.57,310597,121255
$TT8_MAMPS,0.02301
$HUMID,1533
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.90
$XPDR_PINGS,32
$24V_AH,23.7,7.455
$10V_AH,10.7,0.875
$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,29.825,38.975,338.825,202.950,0.000,52.946,50.044,105.302,8.000,0.000,0.000,32.476,704.744,900.518,591.279,914.856,322.418,33.329,1088.187,0.000,896.605,0.000,0.468
$DEVICE_MAMPS,182.546,131.157,915.031,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,333.320,369.025,632.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28628,493
$CAP_FILE_SIZE,52709,0
$CFSIZE,260165632,256913408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,125039,4805.808,-12222.131,22,1.5,22,18.3