version: 66.02
glider: 140
mission: 2
dive: 9
start: 12 11 107 4 29 59
data:
$ID,140
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,4
$D_TGT,150
$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,50
$T_MISSION,70
$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,630
$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,-2080.051
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2390
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,380
$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,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$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
$GPS1,042405,4807.070,-12222.818,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.7
$GPS2,042933,4807.116,-12222.852,12,1.8,12,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,134.7,2320,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.23,-195.5,0.0,0.0,0,146,0.00,0.00,-121.07,0.000,6,0.000,0.000,590,2391,3978
$GC,148,-1.23,-195.5,4.2,-5.2,18,171,12.27,2.92,0.00,0.000,4,0.173,0.107,2715,3800,3980
$GC,214,-1.23,-195.5,9.2,-4.9,29,222,0.00,2.88,0.00,0.000,6,0.000,0.103,2715,2395,3980
$GC,286,-1.23,-195.5,12.8,-5.4,42,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2397,3980
$GC,359,-1.23,-195.5,17.2,-6.8,55,367,0.00,3.00,0.00,0.000,4,0.000,0.130,2715,978,3979
$GC,400,-1.23,-195.5,20.3,-7.7,62,408,0.00,2.80,0.00,0.000,6,0.000,0.095,2715,2390,3980
$GC,472,-1.23,-195.5,26.0,-7.9,75,479,0.00,2.97,0.00,0.000,4,0.000,0.126,2715,977,3980
$GC,497,-1.23,-195.5,28.1,-8.7,79,505,0.00,2.80,0.00,0.000,6,0.000,0.100,2715,2390,3980
$GC,569,-1.23,-195.5,34.3,-8.0,92,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2390,3980
$GC,707,-1.23,-195.5,45.1,-8.3,117,713,0.00,2.92,0.00,0.000,4,0.000,0.123,2715,972,3980
$GC,754,-1.23,-195.5,48.9,-9.0,125,760,0.00,2.78,0.00,0.000,6,0.000,0.094,2715,2392,3980
$GC,889,-1.23,-195.5,59.8,-7.8,150,897,0.00,2.95,0.00,0.000,4,0.000,0.123,2715,982,3979
$GC,933,-1.23,-195.5,63.1,-8.3,157,939,0.00,2.75,0.00,0.000,6,0.000,0.094,2715,2390,3979
$GC,1068,-1.23,-195.5,74.1,-8.4,182,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2391,3980
$GC,1208,-1.23,-195.5,84.8,-7.4,207,1214,0.00,2.95,0.00,0.000,4,0.000,0.130,2715,972,3980
$GC,1264,-1.23,-195.5,89.5,-8.4,217,1270,0.00,2.78,0.00,0.000,6,0.000,0.096,2715,2391,3979
$GC,1399,-1.23,-195.5,100.5,-8.1,242,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2391,3980
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1465,-0.33,0.0,105.3,7.9,253,1575,0.95,0.00,101.22,0.897,6,0.093,0.000,2912,2365,3456
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1577,1.23,195.5,107.9,0.0,271,1741,1.55,2.95,151.82,0.862,4,0.061,0.109,3255,3775,2660
$GC,1752,1.23,195.5,93.8,12.9,300,1760,0.00,2.88,0.00,0.000,6,0.000,0.100,3255,2376,2660
$GC,1892,1.23,195.5,76.5,12.7,325,1898,0.00,3.03,0.00,0.000,4,0.000,0.136,3255,955,2660
$GC,1917,1.23,195.5,73.2,12.8,329,1923,0.00,2.70,0.00,0.000,6,0.000,0.094,3255,2371,2660
$GC,2051,1.23,195.5,56.4,11.9,354,2059,0.00,2.90,0.00,0.000,4,0.000,0.110,3255,3778,2660
$GC,2084,1.23,195.5,52.7,13.0,359,2090,0.00,2.85,0.00,0.000,6,0.000,0.098,3255,2368,2660
$GC,2219,1.23,195.5,36.1,12.1,384,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2369,2660
$GC,2354,1.23,195.5,20.6,11.3,409,2362,0.00,2.95,0.00,0.000,4,0.000,0.125,3255,957,2660
$GC,2379,1.23,195.5,17.5,12.6,413,2387,0.00,2.78,0.00,0.000,6,0.000,0.092,3255,2373,2660
$GC,2451,1.23,195.5,8.7,12.5,426,2458,0.00,2.88,0.00,0.000,4,0.000,0.104,3255,3780,2660
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,1.5,1.017407
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2545,339.45,0.772,2,0,888,630.18
$SM_GC,0.98,0.00,0.00,339.45,0.000,0.000,0.772,593,2390,888,-11.03,0.00,630.18
$IRIDIUM_FIX,4751.72,-12219.12,111207,070718
$TT8_MAMPS,0.02301
$HUMID,1525
$INTERNAL_PRESSURE,8.3597
$TCM_TEMP,18.80
$XPDR_PINGS,113
$ALTIM_BOTTOM_PING,80.2,43.4
$24V_AH,23.6,2.406
$10V_AH,10.1,0.922
$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,26.725,63.250,253.050,339.450,0.000,41.105,31.276,184.669,28.750,0.000,0.000,12.533,665.576,322.900,669.622,1266.773,321.258,0.000,1201.193,0.000,785.931,0.000,5.472
$DEVICE_MAMPS,172.575,158.002,897.390,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,293.613,1020.133,0.000,488.909,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,439
$CFSIZE,260165632,258711552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,111207,051917,4806.862,-12222.605,11,4.0,30,18.3