version: 66.03
glider: 142
mission: 4
dive: 6
start: 3 6 108 0 9 41
data:
$ID,142
$MISSION,4
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,-11594.965
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3366
$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
$GPS1,000526,4807.960,-12223.012,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.2
$GPS2,000845,4807.936,-12223.010,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.212,0.150
$KALMAN_X,38.9,38.9,38.9,-190.6,59.3
$KALMAN_Y,-80.8,-80.8,-80.8,-126.7,-123.3
$MHEAD_RNG_PITCHd_Wd,287.0,1230,-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,-1.15,-146.6,0.0,0.0,0,138,0.00,0.00,-115.72,0.000,2,0.000,0.000,1437,2074,2765
$GC,141,-1.15,-146.6,3.1,-4.2,16,208,11.18,2.75,-45.50,0.000,4,0.230,0.051,2843,3456,3966
$GC,310,-1.21,-146.6,19.1,-12.4,44,318,0.00,2.75,0.00,0.000,6,0.000,0.037,2843,2058,3967
$GC,383,-1.30,-146.6,28.6,-13.0,57,392,0.12,2.80,0.00,0.000,4,0.063,0.048,2819,651,3967
$GC,410,-1.37,-146.6,32.3,-13.4,61,418,0.00,2.70,0.00,0.000,6,0.000,0.030,2819,2048,3967
$GC,483,-1.37,-146.6,42.8,-14.9,74,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2048,3967
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,506,-0.28,0.0,45.7,13.9,77,647,1.27,0.00,133.20,0.907,6,0.126,0.000,3031,2052,3366
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,1.15,146.6,54.1,0.0,98,794,1.67,2.90,134.25,0.884,4,0.048,0.035,3348,3474,2767
$GC,1038,0.31,146.6,43.0,11.7,166,1047,1.33,2.83,0.00,0.000,6,0.220,0.032,3173,2050,2766
$GC,1112,0.11,224.8,37.4,6.4,179,1193,0.28,2.95,71.18,0.865,4,0.154,0.038,3131,3462,2448
$GC,1342,0.11,273.4,20.2,7.8,218,1394,0.00,2.83,44.60,0.847,6,0.000,0.034,3131,2057,2250
$GC,1459,0.17,317.1,10.8,8.0,237,1511,0.00,2.95,40.97,0.838,4,0.000,0.038,3131,3468,2071
$STATE,1720,end climb,NO_VERTICAL_VELOCITY
$STATE,1720,begin surface
$SM_CCo,1723,372.52,0.841,0,0,475,709.16
$SM_GC,0.91,9.15,0.00,0.00,0.054,0.000,0.000,1436,2058,472,-7.63,-0.06,709.90
$IRIDIUM_FIX,4751.72,-12223.57,310597,000010
$TT8_MAMPS,0.026078
$HUMID,1682
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,12.10
$XPDR_PINGS,56
$24V_AH,20.8,1.027
$10V_AH,10.0,0.292
$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,25.000,28.400,424.200,372.525,0.000,0.000,0.000,0.000,14.000,0.000,0.000,19.795,388.830,139.946,733.121,966.695,59.411,30.181,1212.259,0.000,971.712,0.000,0.465
$DEVICE_MAMPS,230.100,50.622,906.594,841.399,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,192.731,174.966,256.802,433.681,849.442,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22437,284
$CAP_FILE_SIZE,40125,0
$CFSIZE,260165632,258273280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,004714,4807.880,-12223.182,6,1.8,11,18.3