version: 66.03
glider: 140
mission: 4
dive: 6
start: 3 6 108 2 44 44
data:
$ID,140
$MISSION,4
$DIVE,6
$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,711.18201
$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,-12427.7
$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
$GPS1,023235,4806.451,-12222.094,10,3.7,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.9
$GPS2,024345,4806.381,-12222.056,16,1.9,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.230
$KALMAN_X,104.2,70.5,7.2,1138.3,22.4
$KALMAN_Y,-486.1,-239.6,-86.3,-2119.8,-55.5
$MHEAD_RNG_PITCHd_Wd,134.1,2872,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-108.80,0.000,2,0.000,0.000,589,2053,3432
$GC,135,-1.41,-146.6,3.3,-6.5,20,170,12.10,3.00,-13.80,0.000,4,0.178,0.140,2673,642,3980
$GC,424,-1.04,-146.6,36.0,-13.2,71,431,0.45,2.80,0.00,0.000,6,0.107,0.108,2760,2047,3981
$GC,500,-1.16,-146.6,43.1,-8.2,84,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2047,3980
$GC,575,-1.28,-146.6,49.3,-8.1,97,582,0.20,2.80,0.00,0.000,4,0.059,0.110,2707,3461,3980
$GC,593,-1.28,-146.6,51.2,-9.3,100,600,0.00,2.75,0.00,0.000,6,0.000,0.102,2708,2049,3981
$GC,737,-1.28,-146.6,66.4,-10.9,125,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2049,3981
$GC,877,-1.28,-146.6,81.7,-10.5,150,883,0.00,2.95,0.00,0.000,4,0.000,0.136,2707,637,3981
$GC,907,-1.17,-146.6,84.8,-10.9,155,913,0.12,2.83,0.00,0.000,6,0.107,0.108,2732,2052,3981
$GC,1049,-1.17,-146.6,97.9,-8.9,180,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2052,3980
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1165,-0.35,0.0,108.1,9.1,200,1245,0.85,0.00,73.85,0.917,6,0.100,0.000,2906,2052,3599
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1248,1.41,146.6,110.7,0.0,215,1376,1.75,3.15,114.38,0.891,4,0.079,0.140,3295,638,3002
$GC,1394,1.04,199.1,108.7,7.6,242,1444,0.40,2.83,41.95,0.865,6,0.119,0.106,3221,2050,2788
$GC,1579,1.06,209.4,92.3,9.5,275,1596,0.00,2.88,9.73,0.788,4,0.000,0.111,3221,3467,2746
$GC,1658,1.06,209.4,84.4,10.0,289,1664,0.00,2.80,0.00,0.000,6,0.000,0.100,3221,2042,2746
$GC,1800,1.08,225.8,71.1,9.2,314,1817,0.00,0.00,14.43,0.828,6,0.000,0.000,3220,2042,2679
$GC,1955,1.17,246.4,57.1,9.1,341,1978,0.12,2.92,17.35,0.831,4,0.067,0.106,3252,3468,2595
$GC,2024,1.06,246.4,49.0,12.2,353,2031,0.15,2.78,0.00,0.000,6,0.111,0.101,3225,2048,2595
$GC,2100,1.17,252.8,41.1,9.7,366,2112,0.00,0.00,6.93,0.722,6,0.000,0.000,3225,2048,2569
$GC,2181,1.30,252.8,32.9,10.3,380,2188,0.17,2.80,0.00,0.000,4,0.061,0.104,3273,3469,2569
$GC,2217,1.09,252.8,28.5,12.6,386,2224,0.22,2.78,0.00,0.000,6,0.107,0.099,3230,2042,2569
$GC,2292,1.19,252.8,20.3,10.1,399,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2042,2569
$GC,2366,1.28,252.8,12.7,10.3,412,2373,0.15,2.80,0.00,0.000,4,0.064,0.106,3272,3465,2569
$GC,2402,1.12,252.8,8.0,13.3,418,2410,0.17,2.75,0.00,0.000,6,0.110,0.100,3237,2047,2569
$GC,2479,1.59,402.3,2.4,3.1,431,2513,0.40,0.00,31.67,0.839,2,0.054,0.000,3332,2047,2406
$STATE,2514,end climb,SURFACE_DEPTH_REACHED
$STATE,2514,begin surface coast
$FINISH,2.1,1.018962
$STATE,2659,end surface coast,CONTROL_FINISHED_OK
$STATE,2659,begin surface
$SM_CCo,2662,366.38,0.799,0,0,520,755.52
$SM_GC,0.91,12.23,0.00,0.00,0.048,0.000,0.000,591,2047,515,-10.99,-0.03,756.75
$IRIDIUM_FIX,4748.51,-12212.96,310597,020203
$TT8_MAMPS,0.022243
$HUMID,1561
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.00
$XPDR_PINGS,21
$24V_AH,23.7,6.007
$10V_AH,10.7,0.400
$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,29.500,45.600,310.275,366.375,0.000,118.896,118.024,158.878,5.250,0.000,0.000,16.914,668.199,1054.333,745.727,842.424,511.599,33.321,1218.764,0.000,841.751,0.000,0.469
$DEVICE_MAMPS,177.944,140.361,916.565,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,313.722,344.214,580.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25432,463
$CAP_FILE_SIZE,54810,0
$CFSIZE,260165632,257228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,033805,4806.027,-12221.718,14,99.0,33,18.3