version: 66.03
glider: 142
mission: 4
dive: 17
start: 3 6 108 10 31 57
data:
$ID,142
$MISSION,4
$DIVE,17
$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,-11944.363
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,102659,4808.233,-12223.999,7,3.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.3
$GPS2,103057,4808.236,-12224.001,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.079,-0.263
$KALMAN_X,354.1,186.0,33.4,-1867.8,-162.7
$KALMAN_Y,-1843.4,-532.2,-1.8,2546.0,194.5
$MHEAD_RNG_PITCHd_Wd,144.9,437,-16.3,-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,-0.90,-146.6,0.0,0.0,0,138,0.00,0.00,-115.53,0.000,2,0.000,0.000,1439,2198,2762
$GC,141,-0.90,-146.6,3.2,-4.2,16,187,11.50,2.85,-27.62,0.000,4,0.239,0.058,2788,795,3598
$GC,423,-0.80,-146.6,46.8,-17.7,67,431,0.12,2.78,0.00,0.000,6,0.162,0.029,2807,2209,3599
$GC,495,-0.72,-146.6,58.2,-14.4,80,504,0.15,2.88,0.00,0.000,4,0.172,0.046,2829,797,3599
$GC,748,-0.71,-146.6,91.6,-12.7,126,756,0.00,2.75,0.00,0.000,6,0.000,0.030,2829,2206,3599
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,848,-0.22,0.0,103.3,12.7,143,988,0.65,0.00,133.80,0.943,6,0.127,0.000,2936,2508,2999
$STATE,989,end apogee,CONTROL_FINISHED_OK
$STATE,989,begin climb
$GC,991,0.90,146.6,110.8,0.0,166,1140,1.50,2.95,136.57,0.909,4,0.102,0.043,3180,3875,2401
$GC,1278,0.77,146.6,84.2,12.5,215,1285,0.15,2.78,0.00,0.000,6,0.140,0.032,3161,2501,2399
$GC,1416,0.69,146.6,69.4,10.2,240,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2501,2399
$GC,1556,0.61,146.6,55.6,10.2,265,1563,0.20,2.83,0.00,0.000,4,0.122,0.043,3128,3886,2400
$GC,1630,0.64,188.0,49.0,8.3,278,1675,0.00,2.78,37.85,0.866,6,0.000,0.033,3128,2500,2233
$GC,1740,0.70,234.6,40.4,8.1,296,1792,0.00,2.90,44.22,0.867,4,0.000,0.043,3128,3878,2041
$GC,1821,0.74,251.9,33.7,9.3,308,1845,0.08,2.85,16.98,0.815,6,0.054,0.033,3146,2497,1972
$GC,1910,0.74,251.9,25.0,10.2,323,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2497,1971
$GC,1982,0.76,268.1,18.1,9.3,336,2004,0.00,0.00,16.00,0.802,6,0.000,0.000,3146,2497,1907
$GC,2069,0.79,295.6,9.8,8.9,351,2114,0.00,2.95,28.92,0.788,4,0.000,0.044,3145,3882,1794
$STATE,2187,end climb,SURFACE_DEPTH_REACHED
$STATE,2187,begin surface coast
$FINISH,1.5,1.017662
$STATE,2278,end surface coast,CONTROL_FINISHED_OK
$STATE,2278,begin surface
$SM_CCo,2299,311.73,0.843,0,0,475,619.38
$SM_GC,0.89,0.00,0.00,311.73,0.000,0.000,0.843,1440,2200,475,-7.13,-0.03,619.38
$IRIDIUM_FIX,4748.51,-12221.84,310597,090958
$TT8_MAMPS,0.026845
$HUMID,1634
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,12.00
$XPDR_PINGS,65
$24V_AH,20.6,3.319
$10V_AH,9.8,1.195
$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,23.525,35.300,414.350,311.725,0.000,29.573,19.731,104.958,16.250,0.000,0.000,15.886,554.416,204.932,678.618,1180.673,252.755,33.349,1210.993,0.000,1193.104,0.000,0.466
$DEVICE_MAMPS,239.304,57.525,942.643,842.933,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.546,279.172,291.825,492.376,963.572,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31906,388
$CAP_FILE_SIZE,40461,0
$CFSIZE,260165632,257912832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,111635,4808.187,-12223.830,11,99.0,30,18.3