version: 66.03
glider: 142
mission: 4
dive: 13
start: 3 6 108 7 2 43
data:
$ID,142
$MISSION,4
$DIVE,13
$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,240
$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,619.38251
$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,-11857.365
$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,22.700001
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3000
$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
$GPS1,064327,4807.712,-12223.805,11,1.5,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.1
$GPS2,070144,4807.616,-12223.717,15,1.4,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.146,0.215
$KALMAN_X,630.0,228.6,69.2,-1872.0,110.1
$KALMAN_Y,-1911.8,-751.1,-189.5,1888.5,-60.4
$MHEAD_RNG_PITCHd_Wd,307.6,792,-17.5,-10.000
$D_GRID,103
$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,-0.95,-146.6,0.0,0.0,0,138,0.00,0.00,-115.70,0.000,2,0.000,0.000,1440,2191,2795
$GC,141,-0.95,-146.6,3.6,-5.4,16,186,11.05,2.85,-24.42,0.000,4,0.236,0.056,2774,788,3600
$GC,195,-0.74,-146.6,9.8,-8.8,23,203,0.32,2.75,0.00,0.000,6,0.189,0.029,2819,2193,3600
$GC,269,-0.66,-146.6,19.7,-13.0,36,277,0.15,0.00,0.00,0.000,6,0.167,0.000,2841,2193,3601
$GC,342,-0.63,-146.6,28.3,-11.5,49,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2193,3601
$GC,414,-0.63,-146.6,36.9,-12.3,62,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2193,3601
$GC,485,-0.63,-146.6,45.5,-11.8,75,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2193,3601
$GC,556,-0.63,-146.6,54.2,-12.1,88,564,0.00,2.83,0.00,0.000,4,0.000,0.043,2842,3608,3601
$GC,611,-0.66,-146.6,60.2,-11.5,97,617,0.00,2.78,0.00,0.000,6,0.000,0.035,2842,2190,3601
$GC,746,-0.66,-146.6,76.4,-11.9,122,754,0.00,2.83,0.00,0.000,4,0.000,0.049,2841,783,3601
$GC,811,-0.68,-146.6,83.8,-11.8,133,817,0.00,2.72,0.00,0.000,6,0.000,0.029,2842,2207,3601
$GC,948,-0.68,-146.6,99.7,-11.5,158,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2207,3601
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,983,-0.22,0.0,103.1,11.7,163,1123,0.55,0.00,134.18,0.960,6,0.123,0.000,2934,2511,3000
$STATE,1124,end apogee,CONTROL_FINISHED_OK
$STATE,1124,begin climb
$GC,1126,0.95,146.6,110.1,0.0,186,1274,1.58,2.95,136.90,0.917,4,0.103,0.044,3191,3881,2401
$GC,1295,0.82,146.6,98.1,12.8,213,1301,0.15,2.85,0.00,0.000,6,0.142,0.031,3172,2489,2400
$GC,1432,0.74,146.6,82.2,11.0,238,1441,0.12,2.90,0.00,0.000,4,0.130,0.043,3156,3880,2400
$GC,1476,0.69,146.6,77.6,10.3,245,1482,0.00,2.75,0.00,0.000,6,0.000,0.032,3155,2501,2399
$GC,1613,0.65,154.0,64.1,9.7,270,1627,0.15,0.00,8.18,0.738,6,0.127,0.000,3131,2501,2372
$GC,1757,0.72,213.7,52.9,7.3,296,1825,0.00,2.95,55.12,0.888,4,0.000,0.044,3131,3878,2126
$GC,1874,0.77,231.8,43.3,9.2,315,1912,0.10,2.83,19.98,0.770,6,0.055,0.033,3153,2495,2053
$GC,1977,0.77,233.5,33.1,9.9,332,1984,0.00,2.90,0.00,0.000,4,0.000,0.044,3153,3883,2051
$GC,1997,0.77,233.5,30.7,10.9,335,2006,0.00,2.80,0.00,0.000,6,0.000,0.033,3153,2503,2051
$GC,2070,0.77,238.8,23.2,9.8,348,2086,0.00,2.88,7.78,0.719,4,0.000,0.044,3153,3883,2025
$GC,2104,0.77,238.8,19.8,10.6,353,2112,0.00,2.80,0.00,0.000,6,0.000,0.034,3153,2500,2024
$GC,2177,0.80,255.9,13.1,9.2,366,2199,0.00,0.00,17.25,0.815,6,0.000,0.000,3153,2500,1956
$GC,2265,0.95,325.9,6.3,6.8,381,2338,0.20,2.90,66.18,0.861,4,0.049,0.041,3198,3880,1670
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,1.6,1.016609
$STATE,2487,end surface coast,CONTROL_FINISHED_OK
$STATE,2487,begin surface
$SM_CCo,2508,283.38,0.845,0,0,475,619.38
$SM_GC,0.97,0.00,0.00,283.38,0.000,0.000,0.845,1437,2197,475,-7.14,-0.08,619.38
$IRIDIUM_FIX,4751.72,-12219.12,310597,070730
$TT8_MAMPS,0.026845
$HUMID,1631
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,12.00
$XPDR_PINGS,73
$24V_AH,20.6,2.565
$10V_AH,9.9,0.866
$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,23.950,52.275,445.550,283.375,0.000,145.185,210.948,354.385,18.250,0.000,0.000,33.502,608.084,438.992,702.383,1293.610,863.468,33.325,1300.950,0.000,1288.919,0.000,0.466
$DEVICE_MAMPS,236.236,55.991,959.517,845.234,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.096,302.329,316.373,533.834,1043.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35042,419
$CAP_FILE_SIZE,57804,0
$CFSIZE,260165632,258011136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,075023,4807.817,-12223.995,11,2.3,30,18.3