version: 66.03
glider: 141
mission: 6
dive: 2
start: 3 12 108 18 8 15
data:
$ID,141
$MISSION,6
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,75
$D_ABORT,150
$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,25
$T_MISSION,40
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$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,51974
$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,578.71997
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5516.7495
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3732
$ROLL_DEG,40
$C_ROLL_DIVE,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3955
$C_VBD,2900
$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,91.800003
$AH0_10V,100
$PRESSURE_YINT,-3.0221882
$PRESSURE_SLOPE,9.1207337e-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,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,180338,4743.729,-12224.105,7,1.6,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-53.1
$GPS2,180720,4743.763,-12224.087,10,1.3,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.139,-0.220
$KALMAN_X,36.9,36.9,36.9,-197.0,78.6
$KALMAN_Y,129.2,129.2,129.2,139.2,275.4
$MHEAD_RNG_PITCHd_Wd,194.1,1237,-17.5,-10.000
$D_GRID,173
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.6,0.0,0.0,0,158,0.00,0.00,-137.32,0.000,2,0.000,0.000,569,2075,3381
$GC,160,-1.27,-146.6,3.5,-6.5,19,184,11.05,2.58,-2.65,0.000,4,0.175,0.064,2570,3481,3500
$GC,336,-1.45,-146.6,30.4,-11.1,51,344,0.12,2.50,0.00,0.000,6,0.044,0.039,2524,2070,3501
$GC,408,-1.45,-146.6,39.8,-14.3,64,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2069,3501
$GC,479,-1.45,-146.6,49.5,-14.1,77,487,0.00,2.55,0.00,0.000,4,0.000,0.057,2524,677,3501
$GC,495,-1.45,-146.6,51.5,-13.1,79,502,0.00,2.47,0.00,0.000,6,0.000,0.041,2524,2078,3501
$GC,630,-1.45,-146.6,69.8,-12.9,104,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2080,3501
$STATE,671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,671,begin apogee
$GC,674,-0.31,0.0,75.2,13.9,111,797,1.17,0.00,117.68,0.699,6,0.098,0.000,2774,2080,2900
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,799,1.27,146.6,81.0,0.0,131,928,1.55,2.60,119.22,0.673,4,0.066,0.059,3126,3474,2300
$GC,961,1.22,246.9,81.4,5.4,158,1054,0.00,2.53,82.25,0.660,6,0.000,0.048,3126,2077,1892
$GC,1186,1.23,256.5,62.2,9.6,197,1200,0.00,2.67,8.73,0.583,4,0.000,0.059,3126,662,1854
$GC,1248,1.23,256.5,55.4,10.8,208,1256,0.00,2.53,0.00,0.000,6,0.000,0.041,3126,2060,1853
$GC,1384,1.23,259.7,42.4,9.9,233,1394,0.00,2.60,3.67,0.426,4,0.000,0.058,3126,3480,1843
$GC,1458,1.23,259.7,34.9,10.3,246,1466,0.00,2.53,0.00,0.000,6,0.000,0.041,3126,2073,1842
$GC,1530,1.26,277.8,28.1,9.2,259,1552,0.00,0.00,16.95,0.630,6,0.000,0.000,3126,2072,1766
$GC,1616,1.28,298.0,20.1,9.1,274,1640,0.00,2.65,18.05,0.624,4,0.000,0.057,3126,665,1684
$GC,1678,1.28,298.0,13.7,11.4,284,1686,0.00,2.53,0.00,0.000,6,0.000,0.041,3126,2068,1682
$GC,1750,1.37,298.0,6.3,10.3,297,1758,0.10,0.00,0.00,0.000,6,0.071,0.000,3157,2070,1681
$STATE,1779,end climb,SURFACE_DEPTH_REACHED
$STATE,1780,begin surface coast
$FINISH,0.2,1.012498
$STATE,1807,end surface coast,CONTROL_FINISHED_OK
$STATE,1807,begin surface
$SM_CCo,1824,230.68,0.624,0,0,540,578.91
$SM_GC,0.78,0.00,0.00,230.68,0.000,0.000,0.624,569,2070,540,-10.49,0.00,578.91
$IRIDIUM_FIX,4726.11,-12225.08,060697,181801
$TT8_MAMPS,0.042952
$HUMID,1640
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,12.00
$XPDR_PINGS,125
$24V_AH,23.8,0.712
$10V_AH,10.6,0.297
$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,24.975,30.725,366.550,230.675,0.000,0.000,0.000,0.000,31.250,0.000,0.000,16.748,440.625,103.342,579.546,961.805,46.539,30.182,1037.332,0.000,969.657,0.000,0.467
$DEVICE_MAMPS,174.876,64.428,698.737,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,203.486,219.875,242.425,409.256,798.898,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22403,307
$CAP_FILE_SIZE,43041,0
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120308,184315,4743.868,-12224.253,11,1.6,11,18.2