version: 66.03
glider: 142
mission: 4
dive: 16
start: 3 6 108 9 45 57
data:
$ID,142
$MISSION,4
$DIVE,16
$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,-11927.849
$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,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
$GPS1,094059,4808.094,-12224.076,7,5.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.5
$GPS2,094457,4808.088,-12224.065,10,1.5,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.093,-0.146
$KALMAN_X,438.7,196.0,50.7,-2054.8,-79.5
$KALMAN_Y,-2141.3,-639.0,-92.7,2775.1,81.1
$MHEAD_RNG_PITCHd_Wd,129.0,182,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.28,-63.1,0.0,0.0,0,145,0.00,0.00,-122.43,0.000,2,0.000,0.000,1437,2187,2902
$GC,148,-1.34,-113.7,3.2,-4.6,17,186,10.50,2.83,-19.80,0.000,4,0.235,0.054,2689,786,3463
$GC,424,-1.22,-113.7,60.4,-23.0,67,431,0.22,2.75,0.00,0.000,6,0.164,0.028,2719,2208,3464
$GC,563,-1.16,-113.7,89.6,-20.8,92,571,0.00,2.88,0.00,0.000,4,0.000,0.045,2719,789,3464
$STATE,625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,634,-0.22,0.0,103.1,21.3,103,745,1.42,0.00,103.95,0.939,6,0.163,0.000,2933,2502,3001
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,746,begin climb
$GC,748,1.34,113.7,111.6,0.0,121,872,2.05,2.95,108.75,0.900,4,0.101,0.043,3275,3896,2536
$GC,1116,1.19,113.7,59.2,16.9,186,1124,0.12,2.80,0.00,0.000,6,0.166,0.030,3256,2501,2534
$GC,1255,1.10,113.7,38.9,13.6,211,1263,0.15,2.85,0.00,0.000,4,0.155,0.041,3234,3889,2534
$GC,1407,1.02,113.7,18.0,14.5,239,1416,0.10,2.75,0.00,0.000,6,0.152,0.031,3219,2504,2534
$GC,1481,0.99,117.2,9.5,9.6,252,1490,0.00,2.88,4.68,0.591,4,0.000,0.041,3219,3898,2521
$GC,1670,1.08,223.0,4.7,-1.2,287,1773,0.00,2.78,96.07,0.867,6,0.000,0.031,3218,2488,2090
$GC,1840,1.33,315.4,2.8,0.2,313,1907,0.28,0.00,64.10,0.848,2,0.052,0.000,3274,2486,1809
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,0.7,1.016271
$STATE,2066,end surface coast,CONTROL_FINISHED_OK
$STATE,2066,begin surface
$SM_CCo,2084,314.25,0.841,0,0,475,619.38
$SM_GC,0.89,0.00,0.00,314.25,0.000,0.000,0.841,1439,2198,475,-7.13,-0.06,619.38
$IRIDIUM_FIX,4751.72,-12223.57,310597,090911
$TT8_MAMPS,0.026078
$HUMID,1637
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.70
$XPDR_PINGS,53
$24V_AH,20.6,3.132
$10V_AH,9.8,1.115
$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,25.175,29.425,377.550,314.250,0.000,26.112,16.399,111.249,13.250,0.000,0.000,12.305,510.406,132.413,642.033,1123.652,250.003,33.322,1125.906,0.000,1141.023,0.000,0.465
$DEVICE_MAMPS,234.702,54.457,938.808,841.399,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,240.172,252.408,289.525,489.383,958.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28948,352
$CAP_FILE_SIZE,35686,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,102659,4808.233,-12223.999,7,3.2,26,18.3