version: 66.03
glider: 143
mission: 4
dive: 164
start: 5 7 108 7 40 4
data:
$ID,143
$MISSION,4
$DIVE,164
$D_SURF,2
$D_FLARE,3
$D_TGT,135
$D_ABORT,1040
$D_NO_BLEED,350
$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,45
$T_MISSION,70
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,140
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$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,-8255.9971
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-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,0
$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,0
$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,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,073338,6109.928,-2632.269,28,1.5,28,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.5
$GPS2,073944,6109.972,-2632.222,10,1.6,15,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6101.699,-2628.860
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,158.5,20000,-15.7,-10.000
$D_GRID,135
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,121,0.00,0.00,-93.62,0.000,2,0.000,0.000,1467,2315,3528
$GC,124,-0.82,-194.7,3.4,-5.8,13,147,9.90,0.00,-7.60,0.000,6,0.250,0.000,2613,2315,3867
$GC,275,-0.70,-194.7,34.6,-18.5,40,283,0.17,2.90,0.00,0.000,4,0.159,0.055,2640,881,3869
$GC,291,-0.59,-194.7,37.7,-17.7,42,299,0.15,2.80,0.00,0.000,6,0.154,0.048,2664,2285,3868
$GC,427,-0.59,-194.7,54.8,-11.8,67,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2285,3869
$GC,755,-0.59,-194.7,92.7,-11.8,128,763,0.00,2.80,0.00,0.000,4,0.000,0.054,2664,884,3868
$GC,776,-0.59,-194.7,95.0,-12.0,131,782,0.00,2.75,0.00,0.000,6,0.000,0.044,2665,2303,3868
$GC,1104,-0.59,-194.7,131.8,-11.3,192,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2303,3869
$STATE,1134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1134,begin apogee
$GC,1139,-0.19,0.0,135.0,11.4,197,1318,0.50,0.00,174.12,0.848,6,0.115,0.000,2752,2027,3071
$STATE,1320,end apogee,CONTROL_FINISHED_OK
$STATE,1320,begin climb
$GC,1321,0.82,194.7,142.8,0.0,226,1510,1.25,2.95,174.27,0.795,4,0.092,0.058,2973,657,2276
$GC,1518,0.72,194.7,130.3,10.9,257,1524,0.00,2.85,0.00,0.000,6,0.000,0.038,2973,2060,2275
$GC,1846,0.61,194.7,91.8,10.9,318,1854,0.20,2.83,0.00,0.000,4,0.127,0.051,2939,3455,2273
$GC,1933,0.65,227.3,83.9,8.9,333,1972,0.00,2.67,29.98,0.793,6,0.000,0.043,2939,2090,2143
$GC,2297,0.67,237.3,50.8,9.7,399,2318,0.00,2.95,10.40,0.778,4,0.000,0.061,2939,643,2103
$GC,2332,0.68,250.0,47.5,9.6,404,2355,0.40,2.83,13.20,0.721,6,0.101,0.041,2925,2082,2050
$GC,2484,1.03,303.5,38.2,8.2,431,2542,0.75,2.83,48.92,0.765,4,0.074,0.051,3011,3462,1831
$GC,2567,0.91,303.5,28.7,13.8,443,2575,0.00,2.85,0.00,0.000,6,0.000,0.044,3011,2052,1829
$GC,2702,0.73,303.5,4.7,19.0,468,2710,0.30,0.00,0.00,0.000,6,0.143,0.000,2963,2052,1828
$STATE,2716,end climb,SURFACE_DEPTH_REACHED
$STATE,2716,begin surface coast
$FINISH,0.1,1.027358
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2804,0.00,0.000,0,0,1825,305.64
$SM_GC,0.83,7.47,0.00,0.00,0.050,0.000,0.000,1470,2319,1825,-6.08,0.71,305.64
$IRIDIUM_FIX,6046.07,-2639.89,010897,040411
$TT8_MAMPS,0.021476
$HUMID,1660
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,11.90
$XPDR_PINGS,145
$24V_AH,20.5,56.249
$10V_AH,9.8,40.361
$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,21.100,35.050,450.900,0.000,0.000,30.074,31.356,191.709,36.250,0.000,0.000,17.196,681.472,387.097,372.465,1364.050,355.654,0.000,952.143,0.000,1373.065,0.000,0.468
$DEVICE_MAMPS,250.042,60.593,848.302,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.083,326.565,483.264,423.634,1016.967,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35004,472
$CAP_FILE_SIZE,46566,0
$CFSIZE,260165632,241020928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,082733,6110.026,-2631.419,11,1.3,11,-18.5