version: 66.03
glider: 140
mission: 4
dive: 21
start: 3 6 108 17 28 15
data:
$ID,140
$MISSION,4
$DIVE,21
$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,-12749.998
$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
$GPS1,172216,4806.869,-12223.251,9,5.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.4
$GPS2,172717,4806.883,-12223.266,14,6.1,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.103,0.239
$KALMAN_X,587.0,-35.3,-102.7,-621.4,2.6
$KALMAN_Y,-2502.8,-181.2,-12.1,691.9,-13.2
$MHEAD_RNG_PITCHd_Wd,318.3,2259,-17.5,-10.000
$D_GRID,99
$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,20,-1.41,-146.6,0.0,0.0,0,160,0.00,0.00,-136.05,0.000,2,0.000,0.000,591,2038,3823
$GC,162,-1.41,-146.6,3.6,-7.2,25,187,12.25,2.83,-3.40,0.000,4,0.183,0.116,2674,3454,3981
$GC,440,-1.23,-146.6,40.8,-13.1,74,447,0.22,2.72,0.00,0.000,6,0.111,0.100,2716,2044,3981
$GC,516,-1.15,-146.6,49.0,-9.8,87,523,0.10,2.78,0.00,0.000,4,0.127,0.106,2733,3467,3982
$GC,580,-1.26,-146.6,55.4,-9.9,98,587,0.00,2.72,0.00,0.000,6,0.000,0.098,2733,2046,3982
$GC,724,-1.26,-146.6,68.6,-9.4,123,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2045,3982
$GC,864,-1.26,-146.6,81.8,-8.9,148,871,0.00,2.90,0.00,0.000,4,0.000,0.130,2734,634,3982
$GC,894,-1.26,-146.6,84.7,-9.9,153,900,0.00,2.80,0.00,0.000,6,0.000,0.105,2733,2056,3982
$GC,1036,-1.26,-146.6,97.6,-9.3,178,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2056,3982
$STATE,1051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1051,begin apogee
$GC,1056,-0.35,0.0,99.3,8.9,181,1136,0.85,0.00,73.25,0.877,6,0.099,0.000,2907,2056,3600
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1139,1.41,146.6,102.0,0.0,196,1262,1.77,2.80,112.72,0.838,4,0.067,0.106,3293,3463,3002
$GC,1291,0.95,196.6,99.1,7.7,224,1341,0.50,2.75,39.58,0.824,6,0.110,0.097,3198,2043,2798
$GC,1476,1.14,235.6,84.8,8.2,257,1515,0.15,2.83,31.10,0.827,4,0.061,0.102,3238,3464,2639
$GC,1538,1.14,235.6,78.6,11.1,268,1545,0.00,2.75,0.00,0.000,6,0.000,0.097,3239,2046,2639
$GC,1680,1.14,235.6,63.6,10.6,293,1686,0.00,2.75,0.00,0.000,4,0.000,0.101,3239,3461,2639
$GC,1715,1.07,235.6,59.8,11.0,299,1721,0.00,2.72,0.00,0.000,6,0.000,0.097,3239,2048,2639
$GC,1857,1.07,235.6,45.0,10.3,324,1863,0.00,2.75,0.00,0.000,4,0.000,0.102,3239,3468,2639
$GC,1897,1.07,235.6,40.7,10.6,331,1904,0.00,2.72,0.00,0.000,6,0.000,0.097,3239,2046,2639
$GC,1972,1.07,235.6,32.9,10.5,344,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2046,2639
$GC,2045,1.07,235.6,25.5,10.1,357,2052,0.00,2.72,0.00,0.000,4,0.000,0.101,3239,3461,2639
$GC,2075,1.07,235.6,22.3,11.2,362,2081,0.00,2.70,0.00,0.000,6,0.000,0.097,3239,2050,2639
$GC,2150,1.08,240.8,14.7,9.8,375,2161,0.00,0.00,5.75,0.673,6,0.000,0.000,3239,2050,2617
$GC,2230,1.10,261.8,6.9,9.0,389,2253,0.00,2.78,17.80,0.805,4,0.000,0.100,3239,3463,2532
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,1.4,1.019078
$STATE,2320,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2344,260.12,0.759,0,0,1154,600.00
$SM_GC,1.03,0.00,0.00,260.12,0.000,0.000,0.759,592,2046,1154,-11.03,-0.06,600.00
$IRIDIUM_FIX,4748.51,-12224.57,310597,161603
$TT8_MAMPS,0.02301
$HUMID,1527
$INTERNAL_PRESSURE,8.34993
$TCM_TEMP,18.00
$XPDR_PINGS,19
$24V_AH,23.7,8.313
$10V_AH,10.7,1.153
$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,27.850,49.800,280.200,260.125,0.000,28.684,12.976,157.693,4.750,0.000,0.000,34.363,582.217,660.509,630.669,756.571,295.683,33.322,1060.686,0.000,736.089,0.000,0.468
$DEVICE_MAMPS,182.546,130.390,876.681,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,271.974,301.156,502.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22356,405
$CAP_FILE_SIZE,46640,0
$CFSIZE,260165632,256733184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,181256,4807.121,-12223.423,41,1.1,41,18.3