version: 66.03
glider: 142
mission: 4
dive: 23
start: 3 6 108 15 35 49
data:
$ID,142
$MISSION,4
$DIVE,23
$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,-12064.818
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,153045,4808.054,-12223.906,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.5
$GPS2,153450,4808.053,-12223.927,8,1.4,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.032,-0.170
$KALMAN_X,280.8,-8.5,-63.6,-1410.7,-72.0
$KALMAN_Y,-1453.9,108.7,163.0,1018.8,11.4
$MHEAD_RNG_PITCHd_Wd,172.3,133,-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,18,begin dive
$GC,20,-1.28,-63.1,0.0,0.0,0,131,0.00,0.00,-108.18,0.000,2,0.000,0.000,1438,2196,2657
$GC,133,-1.34,-111.1,3.2,-4.9,15,179,10.73,2.90,-29.40,0.000,4,0.239,0.054,2689,789,3453
$GC,415,-1.21,-111.1,56.4,-23.4,66,423,0.17,2.75,0.00,0.000,6,0.160,0.028,2716,2192,3454
$GC,556,-1.14,-111.1,85.7,-20.4,91,563,0.15,2.83,0.00,0.000,4,0.179,0.044,2737,789,3454
$STATE,637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,637,begin apogee
$GC,645,-0.22,0.0,103.4,20.7,106,752,1.30,0.00,101.62,0.941,6,0.163,0.000,2932,2499,3000
$STATE,753,end apogee,CONTROL_FINISHED_OK
$STATE,753,begin climb
$GC,755,1.34,111.1,111.2,0.0,123,879,2.08,3.00,106.03,0.900,4,0.101,0.041,3277,3891,2546
$GC,1006,1.18,111.1,80.0,17.9,166,1014,0.17,2.85,0.00,0.000,6,0.173,0.031,3253,2497,2545
$GC,1147,1.09,111.1,58.2,13.9,191,1154,0.15,2.88,0.00,0.000,4,0.161,0.041,3231,3900,2546
$GC,1262,1.02,111.1,42.2,14.0,212,1270,0.00,2.80,0.00,0.000,6,0.000,0.031,3231,2501,2545
$GC,1335,0.96,111.1,32.8,12.2,225,1343,0.17,0.00,0.00,0.000,6,0.156,0.000,3205,2501,2545
$GC,1408,0.96,111.1,24.4,11.6,238,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2501,2545
$GC,1480,0.93,111.1,16.5,10.6,251,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2501,2545
$GC,1552,0.94,118.8,9.4,9.2,264,1567,0.00,0.00,8.60,0.732,6,0.000,0.000,3205,2501,2514
$GC,1633,1.02,155.5,3.3,6.1,278,1677,0.00,2.92,33.03,0.855,4,0.000,0.043,3205,1091,2365
$STATE,1912,end climb,NO_VERTICAL_VELOCITY
$STATE,1912,begin surface
$SM_CCo,1915,440.75,0.844,0,0,475,619.38
$SM_GC,0.92,9.48,0.00,0.00,0.044,0.000,0.000,1436,2224,471,-7.12,0.68,620.12
$IRIDIUM_FIX,4751.72,-12225.30,310597,141440
$TT8_MAMPS,0.026078
$HUMID,1634
$INTERNAL_PRESSURE,8.80939
$TCM_TEMP,11.60
$XPDR_PINGS,38
$24V_AH,20.6,4.417
$10V_AH,9.8,1.684
$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,24.400,28.650,249.275,440.750,0.000,23.743,13.370,122.507,9.500,0.000,0.000,16.551,499.227,221.735,714.982,1042.672,251.751,33.324,1139.271,0.000,1053.527,0.000,0.465
$DEVICE_MAMPS,239.304,54.457,941.109,844.467,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,224.022,237.766,265.055,447.493,875.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25669,329
$CAP_FILE_SIZE,36647,0
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,161744,4807.915,-12223.945,8,1.8,13,18.3