version: 66.03
glider: 142
mission: 4
dive: 29
start: 3 6 108 20 35 37
data:
$ID,142
$MISSION,4
$DIVE,29
$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,-12185.168
$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,25
$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
$GPS1,202238,4807.846,-12224.024,34,1.0,34,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.9
$GPS2,203438,4807.809,-12223.930,10,1.2,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.074,0.157
$KALMAN_X,247.4,-133.7,-7.7,-1317.0,64.4
$KALMAN_Y,-906.9,424.5,-35.3,-89.7,35.9
$MHEAD_RNG_PITCHd_Wd,316.5,365,-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,-122.57,0.000,2,0.000,0.000,1437,2193,2870
$GC,148,-1.34,-115.4,3.2,-4.4,17,186,10.70,2.83,-18.45,0.000,4,0.242,0.052,2688,796,3472
$GC,425,-1.22,-115.4,60.8,-24.7,67,431,0.22,2.72,0.00,0.000,6,0.163,0.029,2718,2201,3472
$GC,562,-1.16,-115.4,90.7,-21.5,92,570,0.00,2.85,0.00,0.000,4,0.000,0.046,2718,796,3472
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,625,-0.22,0.0,103.2,20.7,102,738,1.45,0.00,106.12,0.960,6,0.169,0.000,2933,2496,3000
$STATE,738,end apogee,CONTROL_FINISHED_OK
$STATE,738,begin climb
$GC,740,1.34,115.4,111.5,0.0,120,858,2.05,2.95,108.62,0.926,4,0.098,0.041,3273,3890,2528
$GC,970,1.19,115.4,83.1,18.1,159,977,0.15,2.80,0.00,0.000,6,0.165,0.030,3254,2501,2527
$GC,1109,1.10,115.4,61.9,14.2,184,1118,0.17,2.88,0.00,0.000,4,0.153,0.041,3230,3887,2526
$GC,1211,1.03,115.4,47.6,13.4,202,1219,0.00,2.80,0.00,0.000,6,0.000,0.031,3230,2496,2526
$GC,1285,0.99,115.4,38.1,12.5,215,1293,0.15,2.88,0.00,0.000,4,0.146,0.041,3207,3896,2526
$GC,1358,0.96,115.4,28.9,11.7,228,1366,0.00,2.80,0.00,0.000,6,0.000,0.031,3207,2496,2526
$GC,1431,0.96,115.4,20.4,10.7,241,1439,0.00,2.85,0.00,0.000,4,0.000,0.042,3207,3890,2526
$GC,1468,0.94,115.4,16.4,11.0,247,1476,0.00,2.78,0.00,0.000,6,0.000,0.032,3207,2498,2526
$GC,1541,0.94,120.4,9.3,9.5,260,1550,0.00,0.00,5.70,0.661,6,0.000,0.000,3207,2498,2509
$GC,1615,1.02,165.8,4.4,5.2,273,1666,0.00,2.92,41.25,0.871,4,0.000,0.043,3207,1086,2323
$GC,1675,1.18,249.3,3.7,1.1,281,1763,0.17,2.85,77.25,0.864,6,0.053,0.026,3244,2516,1982
$GC,1830,1.40,342.8,2.1,0.1,305,1854,0.22,0.00,21.02,0.817,2,0.054,0.000,3291,2516,1892
$STATE,1854,end climb,SURFACE_DEPTH_REACHED
$STATE,1854,begin surface coast
$FINISH,1.1,1.017588
$STATE,2116,end surface coast,CONTROL_FINISHED_OK
$STATE,2116,begin surface
$SM_CCo,2135,334.23,0.851,0,0,475,619.38
$SM_GC,0.90,0.00,0.00,334.23,0.000,0.000,0.851,1439,2192,475,-7.13,-0.23,619.38
$IRIDIUM_FIX,4748.51,-12226.29,310597,202052
$TT8_MAMPS,0.026845
$HUMID,1630
$INTERNAL_PRESSURE,8.82892
$TCM_TEMP,11.90
$XPDR_PINGS,37
$24V_AH,20.5,5.526
$10V_AH,9.7,2.156
$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,25.700,40.925,359.975,334.225,0.000,113.060,75.403,254.116,9.250,0.000,0.000,11.945,532.059,311.572,666.823,1142.069,558.001,33.329,1163.593,0.000,1157.262,0.000,0.465
$DEVICE_MAMPS,242.372,52.156,959.517,851.370,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,244.092,253.708,294.564,497.918,973.145,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28705,358
$CAP_FILE_SIZE,45809,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,211733,4807.824,-12224.132,10,1.1,10,18.3