version: 66.03
glider: 140
mission: 4
dive: 19
start: 3 6 108 15 37 16
data:
$ID,140
$MISSION,4
$DIVE,19
$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,-12688.99
$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
$GPS1,153221,4806.418,-12222.852,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.0
$GPS2,153615,4806.428,-12222.846,16,1.5,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.102,0.239
$KALMAN_X,658.0,19.1,-121.2,-209.8,-19.3
$KALMAN_Y,-2366.3,-213.5,-4.8,-260.4,-23.9
$MHEAD_RNG_PITCHd_Wd,318.7,3243,-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,-146.6,0.0,0.0,0,120,0.00,0.00,-97.53,0.000,2,0.000,0.000,592,2040,3535
$GC,123,-1.41,-146.6,3.2,-5.9,18,153,12.27,2.90,-11.43,0.000,4,0.182,0.139,2673,636,3980
$GC,263,-1.02,-146.6,19.6,-12.3,42,270,0.47,2.78,0.00,0.000,6,0.106,0.104,2765,2053,3980
$GC,339,-1.11,-146.6,26.2,-7.9,55,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2054,3980
$GC,413,-1.22,-146.6,32.0,-8.0,68,419,0.17,0.00,0.00,0.000,6,0.058,0.000,2719,2054,3980
$GC,488,-1.16,-146.6,39.1,-10.2,81,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2055,3980
$GC,561,-1.16,-146.6,46.5,-10.2,94,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2054,3980
$GC,635,-1.16,-146.6,53.7,-10.1,107,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2055,3980
$GC,777,-1.16,-146.6,67.6,-9.5,132,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2054,3980
$GC,918,-1.16,-146.6,81.5,-10.0,157,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2054,3980
$GC,1059,-1.16,-146.6,95.1,-9.5,182,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2054,3980
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1107,-0.35,0.0,99.5,9.9,190,1187,0.93,0.00,73.43,0.890,6,0.099,0.000,2907,2054,3600
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1190,1.41,146.6,102.4,0.0,205,1313,1.75,2.83,113.53,0.856,4,0.068,0.106,3295,3466,3001
$GC,1342,0.94,202.2,100.6,7.4,233,1396,0.50,2.78,44.20,0.841,6,0.109,0.100,3199,2046,2774
$GC,1532,1.14,240.3,85.4,8.2,267,1570,0.15,2.83,30.40,0.836,4,0.061,0.104,3240,3462,2620
$GC,1604,1.14,240.3,77.8,11.5,280,1611,0.00,2.75,0.00,0.000,6,0.000,0.099,3240,2046,2620
$GC,1747,1.14,240.3,62.6,10.4,305,1753,0.00,2.78,0.00,0.000,4,0.000,0.103,3240,3469,2619
$GC,1775,1.14,240.3,59.4,11.4,310,1781,0.00,2.75,0.00,0.000,6,0.000,0.098,3240,2044,2619
$GC,1917,1.14,240.3,43.9,10.7,335,1923,0.00,2.75,0.00,0.000,4,0.000,0.103,3241,3463,2619
$GC,1946,1.14,240.3,40.6,11.3,340,1953,0.00,2.72,0.00,0.000,6,0.000,0.096,3240,2041,2619
$GC,2021,1.14,240.3,32.6,10.8,353,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2041,2619
$GC,2095,1.14,240.3,24.7,10.3,366,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2041,2619
$GC,2168,1.14,240.3,16.7,10.5,379,2174,0.00,2.75,0.00,0.000,4,0.000,0.102,3241,3464,2619
$GC,2209,1.14,240.3,12.3,11.0,386,2215,0.00,2.72,0.00,0.000,6,0.000,0.096,3240,2038,2619
$GC,2284,1.18,269.3,5.1,8.7,399,2313,0.00,2.88,23.83,0.817,4,0.000,0.100,3240,3468,2502
$GC,2320,1.49,349.6,2.6,6.3,405,2339,0.32,2.75,13.27,0.767,2,0.049,0.094,3319,2041,2436
$STATE,2340,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,1.1,1.019572
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2378,242.80,0.761,0,0,1154,600.00
$SM_GC,0.96,0.00,0.00,242.80,0.000,0.000,0.761,593,2040,1154,-11.03,-0.20,600.00
$IRIDIUM_FIX,4748.51,-12221.84,310597,141451
$TT8_MAMPS,0.02301
$HUMID,1533
$INTERNAL_PRESSURE,8.34993
$TCM_TEMP,18.10
$XPDR_PINGS,23
$24V_AH,23.7,8.014
$10V_AH,10.7,1.060
$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,29.050,38.950,298.650,242.800,0.000,22.675,12.285,112.631,5.750,0.000,0.000,16.413,588.942,667.955,610.258,749.745,253.224,33.328,1047.813,0.000,749.239,0.000,0.469
$DEVICE_MAMPS,181.779,138.827,889.720,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,275.167,307.353,514.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22253,411
$CAP_FILE_SIZE,46353,0
$CFSIZE,260165632,256790528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,162150,4806.642,-12223.047,8,1.3,25,18.3