version: 66.03
glider: 140
mission: 4
dive: 20
start: 3 6 108 16 34 36
data:
$ID,140
$MISSION,4
$DIVE,20
$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,755.52399
$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,-12715.007
$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
$GPS1,162150,4806.642,-12223.047,8,1.3,25,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.3
$GPS2,163337,4806.653,-12223.070,15,2.0,25,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.097,0.241
$KALMAN_X,620.3,-9.2,-121.4,-420.2,-10.9
$KALMAN_Y,-2448.1,-191.9,2.3,207.8,-40.6
$MHEAD_RNG_PITCHd_Wd,319.9,2746,-17.5,-10.000
$D_GRID,101
$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,-146.6,0.0,0.0,0,127,0.00,0.00,-103.38,0.000,2,0.000,0.000,594,2041,3613
$GC,130,-1.41,-146.6,3.0,-3.7,19,160,12.30,2.83,-9.00,0.000,4,0.185,0.117,2673,3456,3980
$GC,323,-1.19,-146.6,27.5,-12.7,53,330,0.28,2.70,0.00,0.000,6,0.114,0.097,2725,2047,3981
$GC,399,-1.19,-146.6,35.6,-10.4,66,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2048,3980
$GC,472,-1.19,-146.6,43.4,-10.3,79,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2048,3981
$GC,545,-1.19,-146.6,51.1,-10.2,92,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2047,3981
$GC,687,-1.19,-146.6,64.9,-9.9,117,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2047,3981
$GC,828,-1.19,-146.6,78.6,-9.6,142,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2047,3981
$GC,970,-1.19,-146.6,92.2,-9.5,167,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2047,3981
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1068,-0.35,0.0,101.3,9.5,184,1148,0.88,0.00,73.43,0.890,6,0.101,0.000,2904,2047,3600
$STATE,1149,end apogee,CONTROL_FINISHED_OK
$STATE,1149,begin climb
$GC,1151,1.41,146.6,104.2,0.0,199,1273,1.77,0.00,113.32,0.849,6,0.067,0.000,3297,2047,3001
$GC,1408,1.06,155.1,91.6,9.6,246,1420,0.35,0.00,8.27,0.773,6,0.110,0.000,3227,2047,2967
$GC,1557,1.12,205.7,80.0,7.7,272,1606,0.00,2.88,40.28,0.858,4,0.000,0.105,3227,3463,2761
$GC,1652,1.06,207.8,71.6,9.9,289,1664,0.00,2.75,3.58,0.504,6,0.000,0.097,3227,2047,2751
$GC,1801,1.08,224.9,57.7,9.2,315,1818,0.00,0.00,14.75,0.821,6,0.000,0.000,3227,2047,2683
$GC,1956,1.17,232.9,42.9,9.6,342,1969,0.00,2.85,7.97,0.753,4,0.000,0.102,3227,3468,2650
$GC,2026,1.17,232.9,35.5,10.7,354,2032,0.00,2.75,0.00,0.000,6,0.000,0.097,3227,2040,2650
$GC,2101,1.26,235.9,28.1,9.9,367,2108,0.15,0.00,4.10,0.571,6,0.062,0.000,3268,2040,2638
$GC,2177,1.18,235.9,19.2,11.9,380,2184,0.12,2.75,0.00,0.000,4,0.115,0.101,3246,3461,2638
$GC,2196,1.09,235.9,17.0,11.9,383,2202,0.00,2.72,0.00,0.000,6,0.000,0.096,3246,2038,2638
$GC,2270,1.09,235.9,9.1,10.2,396,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2039,2638
$GC,2345,1.27,278.5,2.6,8.0,409,2358,0.00,0.00,10.90,0.759,2,0.000,0.000,3246,2039,2583
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FINISH,0.8,1.019144
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,394.40,0.753,0,0,520,755.52
$SM_GC,0.80,0.00,0.00,394.40,0.000,0.000,0.753,590,2038,520,-11.04,-0.31,755.52
$IRIDIUM_FIX,4748.51,-12226.29,310597,161658
$TT8_MAMPS,0.02301
$HUMID,1533
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.20
$XPDR_PINGS,11
$24V_AH,23.7,8.179
$10V_AH,10.7,1.108
$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,27.900,22.225,276.600,394.400,0.000,138.850,146.185,79.537,2.750,0.000,0.000,25.388,600.278,953.198,729.261,763.442,476.938,33.323,1151.185,0.000,755.706,0.000,0.468
$DEVICE_MAMPS,184.847,116.584,889.720,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,280.500,312.832,511.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22323,416
$CAP_FILE_SIZE,46689,0
$CFSIZE,260165632,256749568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,172216,4806.869,-12223.251,9,5.3,28,18.3