version: 66.02
glider: 140
mission: 2
dive: 15
start: 12 11 107 10 22 47
data:
$ID,140
$MISSION,2
$DIVE,15
$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,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,-2214.1721
$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,10
$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,0
$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
$GPS1,101615,4806.573,-12222.695,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.3
$GPS2,102221,4806.550,-12222.669,12,2.0,12,18.3
$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,310.2,3150,-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,-1.29,-195.5,0.0,0.0,0,90,0.00,0.00,-71.55,0.000,2,0.000,0.000,594,2395,3025
$GC,92,-1.29,-195.5,4.3,-6.6,10,136,12.27,1.35,-23.90,0.000,4,0.176,0.143,2703,0,3980
$GC,371,-1.29,-195.5,20.1,-7.6,61,379,0.00,1.27,0.00,0.000,6,0.000,0.100,2703,2394,3980
$GC,443,-1.29,-195.5,26.0,-8.3,74,451,0.00,1.33,0.00,0.000,4,0.000,0.114,2703,0,3980
$GC,691,-1.29,-195.5,48.2,-8.4,120,699,0.00,1.25,0.00,0.000,6,0.000,0.096,2703,2387,3980
$GC,832,-1.29,-195.5,59.3,-8.5,145,837,0.00,1.30,0.00,0.000,4,0.000,0.110,2703,0,3980
$GC,1028,-1.29,-195.5,76.6,-8.7,181,1034,0.00,1.25,0.00,0.000,6,0.000,0.093,2703,2390,3980
$GC,1163,-1.29,-195.5,87.9,-8.1,206,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2390,3980
$GC,1301,-1.29,-195.5,99.1,-8.3,231,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2390,3980
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1373,-0.35,0.0,105.1,8.1,244,1484,0.98,0.00,102.62,0.917,6,0.095,0.000,2904,2363,3457
$STATE,1484,end apogee,CONTROL_FINISHED_OK
$STATE,1484,begin climb
$GC,1486,1.29,195.5,107.4,0.0,262,1653,1.65,3.03,153.32,0.880,4,0.064,0.110,3266,3776,2660
$GC,1688,1.29,195.5,88.9,13.6,295,1694,0.00,2.88,0.00,0.000,6,0.000,0.099,3266,2372,2660
$GC,1822,1.29,195.5,70.7,13.5,320,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2372,2660
$GC,1961,1.29,195.5,53.4,12.8,345,1967,0.00,2.88,0.00,0.000,4,0.000,0.100,3266,3782,2660
$GC,1988,1.29,195.5,49.7,13.7,350,1996,0.00,2.90,0.00,0.000,6,0.000,0.100,3266,2372,2660
$GC,2128,1.29,195.5,32.6,12.9,375,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2373,2660
$GC,2259,1.29,195.5,16.0,11.8,400,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2373,2660
$GC,2330,1.29,195.5,7.5,12.0,413,2338,0.00,1.25,0.00,0.000,4,0.000,0.115,3266,0,2660
$GC,2376,1.47,345.2,4.1,4.8,421,2386,0.15,1.20,5.55,0.647,2,0.040,0.085,3317,2378,2641
$STATE,2387,end climb,SURFACE_DEPTH_REACHED
$STATE,2387,begin surface coast
$FINISH,4.6,1.018237
$STATE,2486,end surface coast,CONTROL_FINISHED_OK
$STATE,2486,begin surface
$SM_CCo,2488,410.58,0.798,0,0,520,720.45
$SM_GC,1.05,12.12,0.00,0.00,0.044,0.000,0.000,589,2377,514,-10.99,-0.34,721.67
$IRIDIUM_FIX,4748.51,-12219.12,111207,131351
$TT8_MAMPS,0.02301
$HUMID,1527
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.70
$XPDR_PINGS,61
$24V_AH,23.6,3.394
$10V_AH,10.1,1.289
$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,27.175,21.925,261.500,410.575,0.000,39.090,36.116,216.855,15.250,0.000,0.000,12.703,660.056,408.668,683.784,1289.221,354.366,0.000,1170.852,0.000,796.371,0.000,0.468
$DEVICE_MAMPS,175.643,147.264,916.565,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,296.665,1057.590,0.000,506.114,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22328,441
$CFSIZE,260165632,258527232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111207,111359,4806.755,-12223.032,13,2.5,32,18.3