version: 66.03
glider: 142
mission: 4
dive: 15
start: 3 6 108 8 58 26
data:
$ID,142
$MISSION,4
$DIVE,15
$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,-11914.915
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,085003,4807.841,-12223.948,14,1.7,14,18.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.5
$GPS2,085727,4807.946,-12224.083,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.167,0.046
$KALMAN_X,614.3,238.0,104.9,-2351.7,-41.8
$KALMAN_Y,-2151.6,-711.4,-156.1,2662.1,59.1
$MHEAD_RNG_PITCHd_Wd,56.2,143,-27.2,-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,-1.28,-63.1,0.0,0.0,0,138,0.00,0.00,-115.45,0.000,2,0.000,0.000,1438,2194,2750
$GC,141,-1.34,-112.7,3.3,-4.7,16,186,10.48,2.85,-23.27,0.000,4,0.235,0.053,2690,791,3461
$GC,425,-1.22,-112.7,60.5,-23.3,67,431,0.22,2.72,0.00,0.000,6,0.168,0.029,2720,2200,3462
$GC,562,-1.15,-112.7,89.6,-21.0,92,570,0.00,2.85,0.00,0.000,4,0.000,0.046,2720,792,3462
$STATE,625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,625,begin apogee
$GC,633,-0.22,0.0,103.0,21.6,103,750,1.45,0.00,105.78,0.936,6,0.169,0.000,2935,2496,3000
$STATE,750,end apogee,CONTROL_FINISHED_OK
$STATE,750,begin climb
$GC,752,1.34,112.7,111.9,0.0,122,883,2.05,2.95,109.60,0.891,4,0.099,0.042,3273,3894,2539
$GC,1101,1.19,112.7,65.0,17.1,183,1107,0.15,2.78,0.00,0.000,6,0.173,0.031,3255,2498,2538
$GC,1239,1.09,112.7,44.6,13.8,208,1247,0.15,2.88,0.00,0.000,4,0.162,0.042,3234,3896,2538
$GC,1276,1.02,112.7,39.2,13.7,214,1285,0.12,2.78,0.00,0.000,6,0.161,0.031,3215,2503,2538
$GC,1350,0.99,112.7,30.2,12.1,227,1358,0.00,2.85,0.00,0.000,4,0.000,0.043,3215,3894,2538
$GC,1376,0.95,112.7,26.9,12.4,231,1384,0.00,2.78,0.00,0.000,6,0.000,0.032,3215,2500,2538
$GC,1449,0.93,112.7,18.1,11.9,244,1457,0.15,0.00,0.00,0.000,6,0.145,0.000,3192,2499,2538
$GC,1522,0.96,128.8,11.4,8.3,257,1544,0.00,0.00,15.88,0.806,6,0.000,0.000,3192,2499,2473
$GC,1610,1.05,166.8,5.1,6.0,272,1655,0.15,2.92,34.55,0.858,4,0.071,0.041,3222,3896,2318
$GC,1742,1.21,262.6,3.3,-0.2,294,1838,0.12,2.80,87.95,0.860,6,0.063,0.031,3249,2501,1929
$GC,1904,1.44,353.3,2.3,0.4,319,1943,0.25,0.00,35.42,0.833,2,0.053,0.000,3299,2501,1775
$STATE,1943,end climb,SURFACE_DEPTH_REACHED
$STATE,1943,begin surface coast
$FINISH,0.7,1.017037
$STATE,2164,end surface coast,CONTROL_FINISHED_OK
$STATE,2164,begin surface
$SM_CCo,2183,306.48,0.844,0,0,475,619.38
$SM_GC,0.91,0.00,0.00,306.48,0.000,0.000,0.844,1436,2188,475,-7.14,-0.34,619.38
$IRIDIUM_FIX,4748.51,-12237.92,310597,090904
$TT8_MAMPS,0.026845
$HUMID,1627
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.40
$XPDR_PINGS,54
$24V_AH,20.6,2.954
$10V_AH,9.9,1.036
$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,25.775,35.150,389.175,306.475,0.000,45.931,32.025,217.815,13.500,0.000,0.000,12.668,532.532,192.506,660.646,1170.241,397.089,33.320,1176.180,0.000,1185.495,0.000,0.465
$DEVICE_MAMPS,235.469,52.923,935.740,844.467,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,248.955,262.526,301.812,510.173,998.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28857,366
$CAP_FILE_SIZE,43345,0
$CFSIZE,260165632,257974272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060308,094059,4808.094,-12224.076,7,5.6,26,18.3