version: 66.03
glider: 142
mission: 4
dive: 26
start: 3 6 108 17 54 4
data:
$ID,142
$MISSION,4
$DIVE,26
$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,-12127.151
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,174856,4808.064,-12223.978,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.7
$GPS2,175305,4808.079,-12224.003,10,4.3,29,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.067,-0.160
$KALMAN_X,76.4,-104.4,-41.5,-1226.2,-64.5
$KALMAN_Y,-1213.6,312.1,8.4,776.3,17.5
$MHEAD_RNG_PITCHd_Wd,139.1,146,-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,-63.1,0.0,0.0,0,138,0.00,0.00,-115.38,0.000,2,0.000,0.000,1437,2183,2785
$GC,141,-1.34,-117.6,3.2,-4.2,16,179,10.95,0.00,-24.48,0.000,6,0.246,0.000,2688,2184,3480
$GC,244,-1.20,-117.6,17.4,-20.9,33,253,0.22,2.85,0.00,0.000,4,0.192,0.046,2719,790,3482
$GC,401,-1.12,-117.6,51.0,-21.3,62,409,0.12,2.75,0.00,0.000,6,0.171,0.030,2737,2184,3482
$GC,542,-1.08,-117.6,79.9,-20.2,87,548,0.00,2.80,0.00,0.000,4,0.000,0.044,2737,791,3482
$GC,632,-1.05,-117.6,98.5,-20.6,103,639,0.15,2.72,0.00,0.000,6,0.175,0.029,2755,2201,3482
$STATE,655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,656,begin apogee
$GC,661,-0.22,0.0,103.7,20.2,107,777,1.17,0.00,107.93,0.945,6,0.161,0.000,2932,2516,3000
$STATE,778,end apogee,CONTROL_FINISHED_OK
$STATE,778,begin climb
$GC,780,1.34,117.6,111.3,0.0,126,911,2.08,2.92,112.05,0.904,4,0.100,0.042,3274,3874,2520
$GC,959,1.19,117.6,93.0,17.3,155,965,0.17,2.80,0.00,0.000,6,0.169,0.029,3253,2497,2519
$GC,1096,1.09,117.6,70.9,15.3,180,1104,0.15,2.88,0.00,0.000,4,0.161,0.041,3232,3877,2519
$GC,1177,1.02,117.6,58.9,14.5,194,1185,0.00,2.78,0.00,0.000,6,0.000,0.031,3232,2502,2519
$GC,1314,0.97,117.6,40.1,14.1,219,1322,0.17,2.83,0.00,0.000,4,0.149,0.041,3205,3877,2519
$GC,1397,0.95,117.6,29.4,12.5,234,1406,0.00,2.75,0.00,0.000,6,0.000,0.031,3205,2500,2518
$GC,1470,0.93,117.6,20.9,11.3,247,1479,0.00,2.83,0.00,0.000,4,0.000,0.042,3205,3880,2518
$GC,1502,0.91,117.6,17.1,12.2,252,1510,0.00,2.75,0.00,0.000,6,0.000,0.032,3205,2501,2518
$GC,1575,0.91,117.6,9.2,10.6,265,1583,0.00,2.85,0.00,0.000,4,0.000,0.044,3205,1086,2518
$GC,1820,1.04,204.8,4.0,0.7,311,1908,0.00,2.75,78.07,0.876,6,0.000,0.027,3205,2506,2164
$GC,1975,1.30,294.5,2.2,0.5,335,2013,0.32,0.00,35.42,0.844,2,0.051,0.000,3271,2507,2010
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,1.8,1.018230
$STATE,2208,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2208,begin surface
$SM_CCo,2227,360.38,0.848,0,0,475,619.38
$SM_GC,0.86,0.00,0.00,360.38,0.000,0.000,0.848,1439,2184,475,-7.13,-0.45,619.38
$IRIDIUM_FIX,4751.72,-12216.40,310597,171749
$TT8_MAMPS,0.026845
$HUMID,1614
$INTERNAL_PRESSURE,8.81915
$TCM_TEMP,12.00
$XPDR_PINGS,41
$24V_AH,20.5,4.956
$10V_AH,9.8,1.912
$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,25.825,40.500,333.475,360.375,0.000,30.470,12.477,105.665,10.250,0.000,0.000,32.003,562.105,132.406,685.451,1226.403,251.615,33.322,1186.319,0.000,1223.473,0.000,0.466
$DEVICE_MAMPS,246.207,46.020,944.944,848.302,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.188,270.122,311.967,527.286,1031.302,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28866,377
$CAP_FILE_SIZE,42322,0
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060308,183757,4808.000,-12223.940,9,1.6,9,18.3