version: 66.03
glider: 143
mission: 3
dive: 4
start: 3 7 108 21 47 0
data:
$ID,143
$MISSION,3
$DIVE,4
$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,70
$T_ABORT,720
$T_TURN,270
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51312
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,704.01099
$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,-3238.9458
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,1999
$C_ROLL_CLIMB,1999
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3360
$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,-11.618507
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12.5
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,212915,4807.587,-12223.185,8,1.6,8,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.0
$GPS2,214605,4807.657,-12223.276,12,3.4,31,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.219
$KALMAN_X,-357.6,-227.9,-183.0,538.6,-78.2
$KALMAN_Y,207.2,151.5,108.8,-918.5,34.8
$MHEAD_RNG_PITCHd_Wd,129.0,3451,-18.2,-10.000
$D_GRID,107
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.01,-146.6,0.0,0.0,0,71,0.00,0.00,-51.28,0.000,2,0.000,0.000,1471,1990,1651
$GC,73,-1.01,-146.6,3.2,-4.2,7,162,10.80,2.85,-71.28,0.000,4,0.258,0.064,2721,3412,3959
$GC,326,-0.94,-146.6,41.2,-19.4,50,334,0.10,2.80,0.00,0.000,6,0.149,0.047,2738,2002,3960
$GC,400,-0.90,-146.6,55.4,-18.5,63,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2001,3960
$STATE,537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,537,begin apogee
$GC,541,-0.23,0.0,80.1,18.1,88,684,0.90,0.00,133.77,0.888,6,0.123,0.000,2892,2001,3360
$STATE,685,end apogee,CONTROL_FINISHED_OK
$STATE,685,begin climb
$GC,686,1.01,146.6,89.0,0.0,111,827,1.45,2.95,131.30,0.861,4,0.064,0.049,3166,3412,2761
$GC,1108,0.74,176.6,78.8,8.6,186,1153,0.30,2.85,30.40,0.788,6,0.242,0.047,3115,1993,2638
$GC,1285,0.56,176.6,62.3,10.0,217,1291,0.25,2.85,0.00,0.000,4,0.159,0.063,3077,593,2636
$GC,1313,0.46,192.7,59.5,9.3,222,1335,0.12,2.78,15.93,0.930,6,0.148,0.041,3056,2000,2574
$GC,1467,0.46,238.6,48.1,7.9,249,1512,0.00,0.00,42.00,0.851,6,0.000,0.000,3056,2000,2387
$GC,1577,0.46,260.2,38.9,9.0,267,1599,0.00,0.00,20.65,0.749,6,0.000,0.000,3056,2000,2299
$GC,1664,0.47,282.9,31.0,9.0,282,1694,0.00,2.97,21.35,0.772,4,0.000,0.063,3056,593,2207
$GC,1712,0.47,282.9,26.3,10.5,289,1720,0.00,2.80,0.00,0.000,6,0.000,0.041,3056,1998,2206
$GC,1784,0.47,282.9,19.4,10.3,302,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1998,2204
$GC,1856,0.53,326.8,12.9,8.0,315,1907,0.00,0.00,42.30,0.749,6,0.000,0.000,3056,1998,2026
$GC,1972,0.93,507.8,6.1,1.7,334,2148,0.45,2.97,162.45,0.769,4,0.048,0.051,3150,3414,1287
$GC,2280,1.40,712.5,2.0,0.6,383,2298,0.50,2.88,10.68,0.822,2,0.061,0.048,3249,2002,1240
$STATE,2298,end climb,SURFACE_DEPTH_REACHED
$STATE,2299,begin surface coast
$FINISH,1.2,1.004806
$STATE,2538,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2538,begin surface
$SM_CCo,2554,178.93,0.769,2,0,490,704.01
$SM_GC,2.04,0.00,0.00,178.93,0.000,0.000,0.769,1469,1997,490,-6.81,-0.06,704.01
$IRIDIUM_FIX,4748.51,-12221.84,010697,212127
$TT8_MAMPS,0.021476
$HUMID,1606
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,12.20
$XPDR_PINGS,107
$ALTIM_BOTTOM_PING,80.1,3.8
$24V_AH,20.6,7.464
$10V_AH,9.9,1.822
$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,24.000,28.700,610.825,178.925,0.000,0.000,0.000,0.000,27.250,0.000,0.000,33.532,583.193,168.979,642.107,1378.378,64.219,32.334,1271.639,0.000,1372.839,0.000,5.357
$DEVICE_MAMPS,257.712,64.428,929.604,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.735,300.261,346.129,584.807,1142.954,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35143,431
$CAP_FILE_SIZE,63923,0
$CFSIZE,260165632,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,070308,223327,4807.622,-12223.293,8,1.7,9,18.3