version: 66.03
glider: 142
mission: 4
dive: 7
start: 3 6 108 0 58 11
data:
$ID,142
$MISSION,4
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,75
$D_ABORT,100
$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,-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,51634
$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,709
$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,-11641.974
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3300
$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,150
$AH0_10V,100
$PRESSURE_YINT,-3.0977876
$PRESSURE_SLOPE,9.1518581e-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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$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,0.0043273787
$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
$GPS1,005437,4807.818,-12223.192,10,1.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-54.4
$GPS2,005715,4807.790,-12223.194,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.199,0.167
$KALMAN_X,33.8,32.2,31.9,-394.1,31.4
$KALMAN_Y,-299.9,-157.1,-154.0,-30.6,-147.3
$MHEAD_RNG_PITCHd_Wd,291.6,1069,-17.5,-10.000
$D_GRID,105
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.97,-146.6,0.0,0.0,0,138,0.00,0.00,-115.47,0.000,2,0.000,0.000,1437,2057,2766
$GC,141,-0.97,-146.6,3.3,-5.1,16,208,11.32,2.85,-45.25,0.000,4,0.232,0.050,2832,3467,3899
$GC,321,-1.01,-146.6,21.1,-13.1,46,329,0.00,2.80,0.00,0.000,6,0.000,0.036,2832,2056,3900
$GC,394,-1.06,-146.6,31.0,-13.2,59,402,0.00,2.83,0.00,0.000,4,0.000,0.050,2832,648,3900
$GC,425,-1.14,-146.6,35.5,-14.0,64,434,0.12,2.72,0.00,0.000,6,0.051,0.030,2802,2056,3900
$GC,499,-1.11,-146.6,46.9,-16.0,77,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2056,3900
$GC,570,-1.11,-146.6,58.7,-16.1,90,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2056,3900
$STATE,675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,675,begin apogee
$GC,680,-0.23,0.0,75.1,15.1,109,820,1.15,0.00,133.62,0.927,6,0.133,0.000,2990,2060,3300
$STATE,821,end apogee,CONTROL_FINISHED_OK
$STATE,821,begin climb
$GC,823,0.97,146.6,83.3,0.0,132,967,1.45,2.97,135.35,0.902,4,0.065,0.036,3254,3473,2701
$GC,1006,0.42,177.7,88.5,8.6,162,1052,0.75,2.90,31.75,0.821,6,0.178,0.031,3150,2051,2575
$GC,1186,0.32,215.4,73.5,8.3,193,1229,0.17,2.92,35.58,0.865,4,0.127,0.038,3122,3472,2421
$GC,1422,0.36,254.3,54.7,8.2,235,1472,0.00,2.80,37.90,0.828,6,0.000,0.034,3122,2057,2263
$GC,1601,0.43,304.3,40.7,7.7,267,1654,0.00,2.95,46.80,0.864,4,0.000,0.037,3122,3465,2058
$GC,1813,0.52,321.8,22.2,9.2,304,1837,0.17,2.83,16.90,0.811,6,0.049,0.034,3160,2059,1988
$GC,1901,0.52,321.8,12.4,11.3,319,1909,0.00,2.85,0.00,0.000,4,0.000,0.038,3160,3463,1986
$GC,2146,1.08,544.0,2.5,-0.2,365,2164,0.60,2.80,10.70,0.758,2,0.046,0.035,3284,2053,1941
$STATE,2164,end climb,NO_VERTICAL_VELOCITY
$STATE,2165,begin surface
$SM_CCo,2167,344.95,0.848,0,0,475,692.97
$SM_CCo,2562,0.00,0.000,0,0,472,693.71
$SM_CCo,2565,0.00,0.000,0,0,471,693.71
$SM_CCo,2568,0.00,0.000,0,0,471,693.95
$SM_GC,0.97,0.00,0.00,0.00,0.000,0.000,0.000,1439,2052,471,-7.41,-0.23,693.95
$IRIDIUM_FIX,4748.51,-12221.84,310597,010116
$TT8_MAMPS,0.026078
$HUMID,1672
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,12.20
$XPDR_PINGS,72
$24V_AH,20.8,1.241
$10V_AH,9.9,0.375
$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,25.575,34.225,448.600,344.950,0.000,0.000,0.000,0.000,18.000,0.000,0.000,16.133,509.738,158.883,748.667,1154.703,74.254,31.411,1282.171,0.000,1164.872,0.000,0.465
$DEVICE_MAMPS,231.634,49.855,926.536,848.302,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,247.949,201.636,291.564,492.062,964.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28767,367
$CAP_FILE_SIZE,48364,0
$CFSIZE,260165632,258228224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060308,014144,4807.768,-12223.453,9,1.4,9,18.3