version: 66.03
glider: 142
mission: 5
dive: 4
start: 4 4 108 12 52 13
data:
$ID,142
$MISSION,5
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$D_NO_BLEED,350
$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,150
$T_MISSION,180
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$USE_BATHY,0
$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,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-12616.552
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.700001
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-2.876246
$PRESSURE_SLOPE,9.1518581e-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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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
$GPS1,124325,5900.405,-2029.055,21,1.3,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.7
$GPS2,125151,5900.427,-2029.052,12,1.3,12,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,229.7,1311,-27.2,-10.000
$D_GRID,450
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-63.0,0.0,0.0,0,93,0.00,0.00,-71.15,0.000,6,0.000,0.000,1437,1966,3328
$GC,95,-1.34,-113.8,2.5,-4.6,10,119,10.40,2.85,-7.88,0.000,4,0.232,0.047,2688,3369,3536
$GC,355,-1.39,-113.8,36.5,-14.7,58,363,0.00,2.78,0.00,0.000,6,0.000,0.033,2688,1969,3537
$GC,428,-1.45,-113.8,46.1,-13.7,71,436,0.00,2.80,0.00,0.000,4,0.000,0.039,2688,3367,3538
$GC,490,-1.51,-113.8,54.3,-13.5,82,499,0.12,2.75,0.00,0.000,6,0.070,0.033,2663,1976,3537
$GC,625,-1.51,-113.8,75.1,-15.0,107,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1976,3537
$GC,759,-1.51,-113.8,95.0,-15.5,132,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1976,3537
$GC,892,-1.51,-113.8,113.6,-12.8,157,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1976,3537
$GC,1026,-1.51,-113.8,131.7,-13.7,182,1034,0.00,2.83,0.00,0.000,4,0.000,0.051,2662,566,3537
$GC,1161,-1.51,-113.8,153.8,-16.5,207,1167,0.00,2.65,0.00,0.000,6,0.000,0.028,2662,1963,3537
$GC,1298,-1.51,-113.8,174.4,-14.2,232,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1967,3537
$GC,1436,-1.51,-113.8,195.5,-15.1,257,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1967,3537
$GC,1571,-1.51,-113.8,214.9,-13.9,282,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1967,3538
$GC,1710,-1.51,-113.8,234.5,-14.4,307,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1968,3537
$GC,1845,-1.51,-113.8,253.9,-13.8,332,1853,0.00,2.80,0.00,0.000,4,0.000,0.051,2662,571,3537
$GC,1987,-1.51,-113.8,276.4,-16.4,358,1995,0.00,2.67,0.00,0.000,6,0.000,0.027,2662,1975,3537
$GC,2127,-1.51,-113.8,297.0,-14.8,383,2133,0.00,2.70,0.00,0.000,4,0.000,0.039,2662,3374,3537
$GC,2141,-1.51,-113.8,299.1,-14.8,385,2147,0.00,2.70,0.00,0.000,6,0.000,0.032,2662,1969,3537
$GC,2275,-1.51,-113.8,319.1,-14.8,410,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1969,3537
$GC,2414,-1.51,-113.8,339.2,-15.2,435,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$GC,2550,-1.51,-113.8,359.7,-14.6,460,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$GC,2693,-1.51,-113.8,379.8,-13.9,485,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$GC,2832,-1.51,-113.8,399.1,-13.6,510,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$GC,2970,-1.51,-113.8,418.1,-13.6,535,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$GC,3109,-1.51,-113.8,437.3,-13.8,560,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1969,3537
$STATE,3198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3198,begin apogee
$GC,3203,-0.22,0.0,450.5,14.3,576,3317,1.73,0.00,108.05,1.162,6,0.153,0.000,2935,2214,3071
$STATE,3317,end apogee,CONTROL_FINISHED_OK
$STATE,3318,begin climb
$GC,3320,1.34,113.8,452.9,0.0,596,3441,1.85,2.88,110.20,1.131,4,0.052,0.040,3280,3587,2609
$GC,3693,1.03,113.8,375.8,25.5,662,3700,0.45,2.72,0.00,0.000,6,0.182,0.031,3221,2201,2607
$GC,3837,0.85,113.8,345.4,21.0,687,3843,0.28,2.78,0.00,0.000,4,0.170,0.038,3181,3588,2607
$GC,4088,0.71,113.8,297.0,19.4,733,4094,0.25,2.70,0.00,0.000,6,0.172,0.031,3148,2198,2607
$GC,4226,0.67,113.8,274.9,15.1,758,4234,0.00,2.78,0.00,0.000,4,0.000,0.039,3147,3587,2607
$GC,4477,0.61,113.8,234.7,17.0,804,4485,0.12,2.70,0.00,0.000,6,0.154,0.031,3128,2202,2607
$GC,4617,0.61,113.8,215.2,13.8,829,4623,0.00,2.72,0.00,0.000,4,0.000,0.039,3128,3591,2607
$GC,4866,0.61,113.8,181.0,13.9,875,4872,0.00,2.67,0.00,0.000,6,0.000,0.031,3128,2197,2607
$GC,5001,0.61,113.8,162.4,13.6,900,5009,0.00,2.75,0.00,0.000,4,0.000,0.038,3128,3588,2607
$GC,5248,0.61,113.8,127.1,13.6,946,5256,0.00,2.70,0.00,0.000,6,0.000,0.031,3128,2194,2607
$GC,5382,0.61,113.8,108.7,13.5,971,5390,0.00,2.75,0.00,0.000,4,0.000,0.039,3128,3589,2607
$GC,5625,0.61,113.8,73.6,15.1,1017,5633,0.00,2.70,0.00,0.000,6,0.000,0.031,3128,2197,2607
$GC,5760,0.61,113.8,54.7,14.2,1042,5768,0.00,2.75,0.00,0.000,4,0.000,0.039,3128,3596,2607
$GC,6003,0.61,113.8,20.1,14.6,1088,6011,0.00,2.70,0.00,0.000,6,0.000,0.031,3128,2200,2607
$GC,6076,0.61,113.8,10.3,14.2,1101,6083,0.00,2.72,0.00,0.000,4,0.000,0.038,3128,3588,2606
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6136,begin surface coast
$FINISH,0.3,1.026216
$STATE,6148,end surface coast,CONTROL_FINISHED_OK
$STATE,6148,begin surface
$SM_CCo,6168,120.75,0.877,0,0,2051,250.21
$SM_GC,1.01,0.00,0.00,120.75,0.000,0.000,0.877,1437,1966,2051,-7.14,-0.28,250.21
$IRIDIUM_FIX,5837.82,-2032.87,290697,101014
$TT8_MAMPS,0.026845
$HUMID,1642
$INTERNAL_PRESSURE,8.99494
$TCM_TEMP,12.70
$XPDR_PINGS,58
$24V_AH,20.5,6.990
$10V_AH,9.9,3.024
$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,23.900,72.200,218.250,120.750,0.000,29.063,44.398,304.193,14.500,0.000,0.000,13.547,1697.690,975.725,438.696,3110.787,572.993,0.000,1373.027,0.000,3132.324,0.000,0.466
$DEVICE_MAMPS,232.401,51.389,1162.005,877.448,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,774.911,785.461,713.037,1198.642,2351.787,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85414,1114
$CAP_FILE_SIZE,93959,0
$CFSIZE,260165632,258199552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,143807,5900.484,-2029.308,12,1.2,29,-14.2