version: 66.02
glider: 140
mission: 2
dive: 13
start: 12 11 107 8 27 11
data:
$ID,140
$MISSION,2
$DIVE,13
$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,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,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,600
$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,-2182.2686
$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,14.2
$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,8
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$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
$GPS1,082055,4806.114,-12221.948,40,1.3,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.5
$GPS2,082651,4806.203,-12222.014,16,1.1,16,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,305.3,4136,-14.9,-10.000
$D_GRID,150
$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,-1.29,-195.5,0.0,0.0,0,90,0.00,0.00,-71.28,0.000,2,0.000,0.000,590,2389,3004
$GC,92,-1.29,-195.5,5.2,-8.9,10,137,12.23,1.27,-25.55,0.000,4,0.175,0.144,2703,1,3978
$GC,386,-1.29,-195.5,25.2,-9.0,61,394,0.00,1.27,0.00,0.000,6,0.000,0.099,2703,2393,3978
$GC,471,-1.29,-195.5,32.6,-8.7,74,478,0.00,1.33,0.00,0.000,4,0.000,0.123,2703,0,3978
$GC,725,-1.29,-195.5,56.0,-9.2,120,733,0.00,1.25,0.00,0.000,6,0.000,0.095,2703,2385,3978
$GC,865,-1.29,-195.5,67.7,-7.9,145,870,0.00,1.27,0.00,0.000,4,0.000,0.110,2703,0,3978
$GC,921,-1.29,-195.5,72.4,-8.6,155,927,0.00,1.23,0.00,0.000,6,0.000,0.094,2703,2382,3978
$GC,1057,-1.29,-195.5,83.8,-8.1,180,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2382,3978
$GC,1197,-1.29,-195.5,95.0,-8.2,205,1203,0.00,1.27,-0.03,0.000,4,0.000,0.134,2703,0,3984
$GC,1276,-1.29,-195.5,101.7,-8.1,219,1281,0.00,1.23,0.00,0.000,6,0.000,0.092,2703,2385,3984
$STATE,1388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1388,begin apogee
$GC,1391,-0.35,0.0,111.6,8.7,240,1501,1.00,0.00,102.82,0.923,6,0.098,0.000,2908,2385,3457
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1503,1.29,195.5,114.0,0.0,258,1669,1.62,2.97,153.02,0.887,4,0.067,0.107,3264,3774,2660
$GC,1704,1.29,195.5,96.0,13.4,291,1710,0.00,2.88,0.00,0.000,6,0.000,0.099,3264,2371,2660
$GC,1840,1.29,195.5,78.1,13.2,316,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2372,2660
$GC,1979,1.29,195.5,60.5,12.4,341,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2372,2660
$GC,2112,1.29,195.5,43.6,12.3,366,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2372,2660
$GC,2250,1.29,195.5,26.5,12.7,391,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2372,2660
$GC,2323,1.29,195.5,17.4,12.8,404,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2372,2661
$GC,2396,1.29,195.5,8.3,12.4,417,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2372,2661
$GC,2469,1.67,508.8,6.0,-0.8,430,2666,0.35,0.00,192.10,0.821,2,0.041,0.000,3359,2372,1657
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,2.0,1.014689
$STATE,2881,end surface coast,CONTROL_FINISHED_OK
$STATE,2881,begin surface
$SM_CCo,2899,124.85,0.809,0,0,1011,600.00
$SM_GC,1.22,0.00,0.00,124.85,0.000,0.000,0.809,593,2372,1011,-11.03,-0.51,600.00
$IRIDIUM_FIX,4748.51,-12220.12,111207,111158
$TT8_MAMPS,0.02301
$HUMID,1526
$INTERNAL_PRESSURE,8.3597
$TCM_TEMP,17.60
$XPDR_PINGS,136
$ALTIM_BOTTOM_PING,80.1,41.0
$24V_AH,23.6,3.066
$10V_AH,10.1,1.174
$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,27.650,15.975,447.950,124.850,0.000,40.931,37.042,197.728,34.500,0.000,0.000,16.583,705.648,340.664,491.215,1512.299,347.226,0.000,1096.418,0.000,1014.027,0.000,5.467
$DEVICE_MAMPS,174.876,144.196,923.468,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,335.501,1256.376,494.034,701.511,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28599,498
$CFSIZE,260165632,258576384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111207,091820,4806.378,-12222.350,8,1.7,13,18.3