version: 66.03
glider: 142
mission: 4
dive: 9
start: 3 6 108 2 46 57
data:
$ID,142
$MISSION,4
$DIVE,9
$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,-11720.586
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2990
$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,2100
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,25
$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
$GPS1,024043,4807.744,-12223.672,29,1.7,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.5
$GPS2,024557,4807.715,-12223.663,15,1.6,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.125,0.228
$KALMAN_X,-0.7,38.4,34.4,-949.4,-24.3
$KALMAN_Y,-656.9,-335.3,-245.6,454.4,-75.1
$MHEAD_RNG_PITCHd_Wd,313.0,673,-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,18,begin dive
$GC,20,-0.97,-146.6,0.0,0.0,0,131,0.00,0.00,-108.28,0.000,2,0.000,0.000,1437,2094,2627
$GC,134,-0.97,-146.6,3.2,-4.2,15,193,11.20,2.85,-39.03,0.000,4,0.239,0.051,2771,3500,3900
$GC,285,-0.83,-146.6,25.5,-17.6,40,294,0.17,2.80,0.00,0.000,6,0.130,0.037,2800,2102,3900
$GC,359,-0.78,-146.6,38.2,-16.5,53,367,0.00,2.85,0.00,0.000,4,0.000,0.050,2800,694,3900
$GC,421,-0.78,-146.6,48.3,-15.7,64,429,0.00,2.75,0.00,0.000,6,0.000,0.030,2800,2104,3900
$GC,496,-0.78,-146.6,60.2,-15.9,77,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2105,3900
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,593,begin apogee
$GC,599,-0.23,0.0,75.7,16.0,95,739,0.82,0.00,134.38,0.924,6,0.134,0.000,2934,2509,3300
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,742,0.97,146.6,84.6,0.0,118,897,1.55,3.03,137.45,0.891,4,0.094,0.040,3193,1091,2701
$GC,1044,0.67,176.0,76.8,8.6,170,1083,0.35,2.80,28.02,0.858,6,0.145,0.029,3140,2492,2582
$GC,1213,0.65,234.5,64.7,7.3,200,1276,0.00,2.95,53.92,0.882,4,0.000,0.045,3140,3884,2344
$GC,1317,0.62,249.2,56.3,9.3,217,1343,0.00,2.80,15.12,0.820,6,0.000,0.031,3140,2498,2283
$GC,1472,0.66,274.4,42.5,8.8,245,1503,0.00,2.90,24.40,0.844,4,0.000,0.044,3140,3893,2179
$GC,1547,0.66,280.1,35.3,9.7,257,1563,0.00,2.83,6.35,0.688,6,0.000,0.034,3140,2502,2159
$GC,1628,0.67,285.4,27.5,9.8,271,1637,0.00,0.00,6.88,0.699,6,0.000,0.000,3140,2502,2136
$GC,1701,0.69,305.0,20.6,9.1,284,1732,0.00,2.92,19.80,0.826,4,0.000,0.044,3140,3887,2055
$GC,1740,0.71,320.9,17.1,9.3,289,1763,0.00,2.83,16.17,0.815,6,0.000,0.033,3140,2498,1991
$GC,1829,0.86,369.1,9.5,7.8,304,1889,0.15,2.95,47.88,0.827,4,0.055,0.045,3172,3893,1795
$GC,1897,1.05,431.8,4.1,7.1,313,1951,0.20,2.90,42.00,0.810,2,0.044,0.037,3217,2500,1623
$STATE,1952,end climb,SURFACE_DEPTH_REACHED
$STATE,1952,begin surface coast
$FINISH,1.0,1.016778
$STATE,2017,end surface coast,CONTROL_FINISHED_OK
$STATE,2017,begin surface
$SM_CCo,2035,271.80,0.843,0,0,475,692.97
$SM_CCo,2310,0.00,0.000,0,0,474,693.22
$SM_CCo,2313,0.00,0.000,0,0,474,693.22
$SM_GC,0.92,0.00,0.00,0.00,0.000,0.000,0.000,1439,2090,474,-7.13,-0.28,693.22
$IRIDIUM_FIX,4751.72,-12223.57,310597,020248
$TT8_MAMPS,0.026845
$HUMID,1662
$INTERNAL_PRESSURE,8.83869
$TCM_TEMP,11.60
$XPDR_PINGS,49
$24V_AH,20.7,1.665
$10V_AH,9.9,0.528
$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,24.250,41.750,532.375,271.800,0.000,29.196,16.678,167.561,12.250,0.000,0.000,16.554,450.249,121.583,719.523,1032.230,324.746,33.318,1273.714,0.000,1039.875,0.000,0.465
$DEVICE_MAMPS,238.537,50.622,924.235,842.933,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,222.401,175.967,256.931,433.544,848.633,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25576,332
$CAP_FILE_SIZE,43151,0
$CFSIZE,260165632,258179072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060308,032620,4807.819,-12223.786,8,1.5,13,18.3