version: 66.02
glider: 140
mission: 2
dive: 1
start: 12 10 107 21 41 29
data:
$ID,140
$MISSION,2
$DIVE,1
$D_SURF,4
$D_FLARE,4
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51445
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,710.44611
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1812.0996
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2936
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,170
$ROLL_MAX,3940
$C_ROLL_DIVE,2408
$C_ROLL_CLIMB,2408
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3457
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-1.7017781
$PRESSURE_SLOPE,9.0994887e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,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,-1
$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,0.0043383949
$SEABIRD_T_H,0.00063259009
$SEABIRD_T_I,2.4332165e-05
$SEABIRD_T_J,2.5442112e-06
$SEABIRD_C_G,-9.8722277
$SEABIRD_C_H,1.1011369
$SEABIRD_C_I,-0.00070075336
$SEABIRD_C_J,0.00014688425
$GPS1,213803,4807.770,-12223.194,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.9
$GPS2,214104,4807.745,-12223.203,14,1.3,14,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,151.4,1402,-14.9,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.17,-195.5,0.0,0.0,0,166,0.00,0.00,-147.60,0.000,2,0.000,0.000,584,2414,3846
$GC,169,-1.17,-195.5,4.0,-2.9,21,192,12.25,2.90,-4.35,0.000,4,0.180,0.126,2675,3822,3979
$GC,427,-1.17,-195.5,14.1,-7.2,69,435,0.00,2.88,0.00,0.000,6,0.000,0.107,2675,2410,3980
$GC,499,-1.17,-195.5,19.5,-8.0,82,507,0.00,2.85,0.00,0.000,4,0.000,0.108,2675,3812,3980
$GC,699,-1.17,-195.5,37.7,-9.7,119,705,0.00,2.80,0.00,0.000,6,0.000,0.103,2675,2405,3981
$STATE,778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,778,begin apogee
$GC,782,-0.31,0.0,45.3,8.9,134,891,0.93,0.00,102.28,0.940,6,0.106,0.000,2861,2404,3458
$STATE,892,end apogee,CONTROL_FINISHED_OK
$STATE,892,begin climb
$GC,893,1.17,195.5,48.6,0.0,152,1061,1.52,2.90,154.68,0.898,4,0.078,0.102,3184,3820,2660
$GC,1077,1.19,215.8,37.4,9.3,182,1103,0.00,2.83,17.62,0.824,6,0.000,0.097,3184,2412,2576
$GC,1232,1.23,242.8,24.0,9.1,210,1262,0.00,3.00,23.12,0.829,4,0.000,0.130,3184,996,2466
$GC,1300,1.23,243.5,17.7,10.0,221,1308,0.00,2.80,0.00,0.000,6,0.000,0.092,3184,2405,2467
$GC,1372,1.26,266.3,10.8,9.2,234,1402,0.12,2.88,20.05,0.815,4,0.061,0.103,3218,3814,2371
$GC,1409,1.26,266.3,6.6,12.0,239,1417,0.00,2.80,0.00,0.000,6,0.000,0.094,3218,2414,2372
$STATE,1433,end climb,SURFACE_DEPTH_REACHED
$STATE,1433,begin surface coast
$FINISH,2.4,1.016754
$STATE,1472,end surface coast,CONTROL_FINISHED_OK
$STATE,1472,begin surface
$SM_CCo,1490,228.23,0.810,0,0,560,710.63
$SM_GC,0.97,0.00,0.00,228.23,0.000,0.000,0.810,590,2413,560,-10.79,0.14,710.63
$IRIDIUM_FIX,4748.51,-12226.29,111207,010149
$TT8_MAMPS,0.022243
$HUMID,1541
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.10
$XPDR_PINGS,5
$24V_AH,23.6,1.184
$10V_AH,10.1,0.523
$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,26.750,28.625,317.750,228.225,0.000,0.000,0.000,0.000,1.250,0.000,0.000,14.380,351.935,54.319,537.385,816.990,32.779,0.000,934.375,0.000,477.242,0.000,0.466
$DEVICE_MAMPS,180.245,130.390,940.342,809.952,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,163.440,733.267,0.000,352.457,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12814,250
$CFSIZE,260165632,258940928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,101207,221051,4807.592,-12223.200,7,1.4,12,18.3