version: 66.03
glider: 140
mission: 4
dive: 26
start: 3 6 108 22 6 39
data:
$ID,140
$MISSION,4
$DIVE,26
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,-12858.541
$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,11
$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
$GPS1,215745,4807.959,-12224.207,10,1.5,10,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.5
$GPS2,220541,4807.950,-12224.210,10,2.3,29,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.206
$KALMAN_X,498.9,-94.8,53.2,-1792.1,33.8
$KALMAN_Y,-2838.4,-104.2,-39.5,2955.1,-24.4
$MHEAD_RNG_PITCHd_Wd,123.9,2310,-17.5,-10.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,122,0.00,0.00,-98.10,0.000,2,0.000,0.000,593,2051,3617
$GC,125,-1.41,-146.6,3.3,-6.2,18,154,12.35,2.80,-8.12,0.000,4,0.186,0.115,2671,3465,3981
$GC,330,-1.18,-146.6,30.4,-12.3,54,337,0.30,2.72,0.00,0.000,6,0.110,0.098,2729,2045,3981
$GC,405,-1.18,-146.6,38.0,-9.3,67,412,0.00,2.90,0.00,0.000,4,0.000,0.132,2729,636,3981
$GC,437,-1.07,-146.6,41.1,-10.6,72,444,0.12,2.75,0.00,0.000,6,0.118,0.103,2750,2051,3981
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,481,-0.35,0.0,45.2,9.2,79,559,0.75,0.00,72.93,0.849,6,0.097,0.000,2905,2052,3600
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,562,1.41,146.6,48.1,0.0,93,684,1.80,3.00,112.47,0.817,4,0.068,0.130,3296,632,3002
$GC,742,1.05,161.6,43.1,9.3,125,761,0.40,2.78,13.00,0.787,6,0.113,0.100,3220,2055,2941
$GC,830,1.12,223.0,36.4,7.2,140,885,0.00,2.80,48.08,0.809,4,0.000,0.106,3220,3467,2690
$GC,926,1.12,224.8,28.0,9.9,157,932,0.00,2.75,0.00,0.000,6,0.000,0.098,3220,2047,2690
$GC,1001,1.24,224.8,20.8,10.1,170,1007,0.15,0.00,0.00,0.000,6,0.061,0.000,3261,2048,2689
$GC,1075,1.18,224.8,12.7,10.1,183,1082,0.00,2.75,0.00,0.000,4,0.000,0.103,3261,3467,2689
$GC,1128,1.08,224.8,6.9,10.9,192,1135,0.17,2.72,0.00,0.000,6,0.107,0.097,3229,2044,2689
$GC,1204,1.43,331.2,2.1,5.1,205,1211,0.28,0.00,5.00,0.624,2,0.051,0.000,3301,2044,2667
$STATE,1212,end climb,SURFACE_DEPTH_REACHED
$STATE,1212,begin surface coast
$FINISH,1.9,1.020086
$STATE,1256,end surface coast,CONTROL_FINISHED_OK
$STATE,1257,begin surface
$SM_CCo,1278,284.25,0.758,0,0,1153,600.00
$SM_GC,1.00,0.00,0.00,284.25,0.000,0.000,0.758,590,2044,1153,-11.04,-0.11,600.00
$IRIDIUM_FIX,4751.72,-12223.57,310597,222250
$TT8_MAMPS,0.02301
$HUMID,1529
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.90
$XPDR_PINGS,14
$24V_AH,23.7,9.053
$10V_AH,10.7,1.377
$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,28.725,27.975,251.475,284.250,0.000,55.458,35.741,215.138,3.500,0.000,0.000,31.285,317.945,333.392,572.526,437.351,397.111,33.323,857.733,0.000,427.267,0.000,0.469
$DEVICE_MAMPS,185.614,131.924,849.069,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,142.669,159.147,369.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9687,214
$CAP_FILE_SIZE,33223,0
$CFSIZE,260165632,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,223347,4807.838,-12224.199,10,2.4,29,18.3