version: 66.03
glider: 140
mission: 4
dive: 16
start: 3 6 108 12 55 39
data:
$ID,140
$MISSION,4
$DIVE,16
$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,-12638.141
$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
$GPS1,125039,4805.808,-12222.131,22,1.5,22,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.2
$GPS2,125439,4805.810,-12222.146,10,1.5,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.104,0.238
$KALMAN_X,677.3,101.1,-23.4,456.6,-95.6
$KALMAN_Y,-1993.2,-273.6,-62.9,-1663.6,54.5
$MHEAD_RNG_PITCHd_Wd,318.0,4659,-17.5,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,110,0.00,0.00,-86.62,0.000,2,0.000,0.000,593,2047,3291
$GC,113,-1.41,-146.6,3.0,-4.6,16,154,12.35,2.85,-17.83,0.000,4,0.186,0.117,2672,3463,3981
$GC,397,-1.22,-146.6,36.6,-12.6,66,404,0.25,2.75,0.00,0.000,6,0.114,0.101,2719,2042,3981
$GC,472,-1.14,-146.6,44.6,-10.4,79,478,0.10,0.00,0.00,0.000,6,0.129,0.000,2737,2042,3981
$GC,546,-1.14,-146.6,51.7,-9.3,92,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2042,3981
$GC,688,-1.14,-146.6,64.7,-8.8,117,694,0.00,2.95,0.00,0.000,4,0.000,0.135,2736,634,3981
$GC,723,-1.14,-146.6,68.1,-9.7,123,729,0.00,2.80,0.00,0.000,6,0.000,0.105,2736,2055,3981
$GC,864,-1.14,-146.6,81.0,-8.9,148,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2056,3981
$GC,1006,-1.14,-146.6,93.7,-9.0,173,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2056,3982
$GC,1148,-1.21,-146.6,106.6,-8.7,198,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2056,3981
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1158,begin apogee
$GC,1163,-0.35,0.0,107.8,8.7,200,1243,0.82,0.00,73.43,0.897,6,0.100,0.000,2905,2056,3600
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1246,1.41,146.6,110.5,0.0,215,1369,1.75,3.08,113.60,0.857,4,0.065,0.137,3296,633,3001
$GC,1414,1.02,170.0,106.3,8.9,246,1443,0.43,2.80,19.35,0.828,6,0.113,0.103,3216,2050,2906
$GC,1579,1.08,217.9,93.3,7.8,275,1623,0.00,2.90,38.42,0.843,4,0.000,0.108,3216,3469,2711
$GC,1674,1.08,222.5,84.9,9.8,292,1686,0.00,2.75,5.35,0.656,6,0.000,0.100,3216,2049,2692
$GC,1823,1.21,238.9,71.0,9.3,318,1846,0.15,2.83,14.20,0.815,4,0.063,0.102,3256,3455,2626
$GC,1886,1.08,238.9,63.7,12.2,329,1893,0.15,2.75,0.00,0.000,6,0.113,0.099,3229,2044,2626
$GC,2031,1.17,243.4,49.2,9.8,354,2037,0.00,0.00,5.20,0.650,6,0.000,0.000,3229,2044,2607
$GC,2106,1.27,245.8,41.4,9.9,367,2119,0.15,2.80,3.67,0.524,4,0.063,0.103,3270,3456,2598
$GC,2165,1.10,245.8,34.4,12.7,377,2172,0.20,2.72,0.00,0.000,6,0.108,0.098,3233,2038,2598
$GC,2241,1.19,245.8,26.4,10.5,390,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2039,2599
$GC,2315,1.27,245.8,18.9,10.4,403,2321,0.15,0.00,0.00,0.000,6,0.064,0.000,3274,2039,2598
$GC,2389,1.19,245.8,10.1,12.2,416,2396,0.12,2.75,0.00,0.000,4,0.114,0.102,3252,3462,2598
$GC,2447,1.19,245.8,3.9,10.1,426,2454,0.00,2.72,0.00,0.000,6,0.000,0.098,3252,2041,2598
$GC,2522,1.83,476.7,2.5,-0.6,439,2590,0.57,0.00,63.72,0.814,2,0.044,0.000,3393,2041,2266
$STATE,2591,end climb,SURFACE_DEPTH_REACHED
$STATE,2591,begin surface coast
$FINISH,1.6,1.018802
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2774,211.43,0.766,0,0,1154,600.00
$SM_GC,1.00,0.00,0.00,211.43,0.000,0.000,0.766,593,2041,1154,-11.03,-0.20,600.00
$IRIDIUM_FIX,4748.51,-12224.57,310597,121257
$TT8_MAMPS,0.02301
$HUMID,1547
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.90
$XPDR_PINGS,17
$24V_AH,23.7,7.590
$10V_AH,10.7,0.924
$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,30.075,39.450,336.950,211.425,0.000,29.856,15.054,110.936,4.250,0.000,0.000,10.552,687.867,819.318,598.059,866.079,267.185,33.328,1081.457,0.000,870.178,0.000,0.469
$DEVICE_MAMPS,185.614,136.526,896.623,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,325.632,357.486,601.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28637,480
$CAP_FILE_SIZE,51608,0
$CFSIZE,260165632,256880640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,134603,4806.065,-12222.357,10,1.9,10,18.3