version: 66.03
glider: 140
mission: 4
dive: 23
start: 3 6 108 19 8 20
data:
$ID,140
$MISSION,4
$DIVE,23
$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,-12781.401
$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
$GPS1,190327,4807.396,-12223.625,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.9
$GPS2,190720,4807.426,-12223.646,9,1.4,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.105,0.238
$KALMAN_X,525.4,-75.5,-45.9,-1047.2,8.2
$KALMAN_Y,-2507.3,-131.1,-16.0,1654.1,17.9
$MHEAD_RNG_PITCHd_Wd,317.8,1150,-17.5,-10.000
$D_GRID,102
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.41,-146.6,0.0,0.0,0,138,0.00,0.00,-113.68,0.000,2,0.000,0.000,591,2043,3902
$GC,141,-1.41,-146.6,3.4,-6.4,21,165,12.20,2.85,-1.67,0.000,4,0.181,0.116,2675,3463,3980
$GC,419,-1.24,-146.6,41.4,-13.0,70,425,0.22,2.75,0.00,0.000,6,0.112,0.100,2717,2042,3981
$GC,494,-1.24,-146.6,49.8,-10.5,83,500,0.00,2.78,0.00,0.000,4,0.000,0.105,2716,3469,3980
$GC,574,-1.24,-146.6,58.7,-11.1,97,580,0.00,2.75,0.00,0.000,6,0.000,0.097,2717,2041,3980
$GC,715,-1.24,-146.6,73.5,-10.5,122,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2040,3980
$GC,856,-1.24,-146.6,87.7,-10.0,147,862,0.00,2.90,0.00,0.000,4,0.000,0.130,2716,634,3980
$GC,892,-1.14,-146.6,91.5,-11.0,153,898,0.12,2.78,0.00,0.000,6,0.116,0.104,2739,2049,3980
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1016,-0.35,0.0,102.3,8.5,174,1096,0.82,0.00,73.07,0.873,6,0.099,0.000,2907,2051,3599
$STATE,1097,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1099,1.41,146.6,105.2,0.0,189,1222,1.75,2.80,113.07,0.839,4,0.066,0.104,3297,3461,3001
$GC,1325,0.95,146.6,95.8,10.2,230,1332,0.50,2.72,0.00,0.000,6,0.110,0.098,3201,2046,3001
$GC,1469,1.04,217.2,85.7,6.8,255,1533,0.00,2.83,54.92,0.836,4,0.000,0.102,3201,3454,2714
$GC,1557,1.13,239.9,78.7,9.0,271,1585,0.15,2.75,19.25,0.802,6,0.063,0.098,3238,2044,2620
$GC,1720,1.13,239.9,61.2,10.9,300,1727,0.00,2.75,0.00,0.000,4,0.000,0.102,3238,3465,2620
$GC,1761,1.13,239.9,56.6,11.3,307,1767,0.00,2.75,0.00,0.000,6,0.000,0.098,3238,2047,2620
$GC,1903,1.13,239.9,41.1,10.9,332,1909,0.00,2.75,0.00,0.000,4,0.000,0.102,3238,3471,2619
$GC,1938,1.13,239.9,37.1,11.6,338,1944,0.00,2.72,0.00,0.000,6,0.000,0.096,3238,2048,2620
$GC,2012,1.13,239.9,29.1,10.4,351,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2048,2620
$GC,2086,1.13,239.9,21.3,10.9,364,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2048,2619
$GC,2160,1.14,243.0,13.7,9.9,377,2172,0.00,2.80,3.78,0.526,4,0.000,0.102,3238,3461,2609
$GC,2207,1.15,253.1,9.2,9.5,385,2225,0.00,2.72,9.73,0.754,6,0.000,0.097,3238,2040,2568
$GC,2294,1.56,331.8,2.4,6.4,400,2313,0.38,0.00,15.82,0.792,2,0.045,0.000,3333,2040,2488
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,2.3,1.018497
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2392,begin surface
$SM_CCo,2395,377.42,0.755,0,0,520,755.52
$SM_GC,0.91,12.25,0.00,0.00,0.048,0.000,0.000,592,2040,514,-10.98,-0.23,757.00
$IRIDIUM_FIX,4748.51,-12221.84,310597,181801
$TT8_MAMPS,0.02301
$HUMID,1540
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,18.10
$XPDR_PINGS,31
$24V_AH,23.7,8.601
$10V_AH,10.7,1.243
$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,28.400,44.400,289.650,377.425,0.000,25.215,13.164,110.022,7.750,0.000,0.000,14.575,605.827,789.565,736.014,758.329,248.733,33.350,1169.495,0.000,759.260,0.000,0.468
$DEVICE_MAMPS,181.012,130.390,872.846,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,281.446,308.701,518.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25367,417
$CAP_FILE_SIZE,45539,0
$CFSIZE,260165632,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,195729,4807.637,-12223.740,10,2.4,29,18.3