version: 66.02
glider: 140
mission: 2
dive: 20
start: 12 11 107 14 52 8
data:
$ID,140
$MISSION,2
$DIVE,20
$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,-2327.5667
$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,14
$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
$GPS1,144551,4807.853,-12223.948,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.0
$GPS2,145144,4807.866,-12223.960,17,1.2,33,18.3
$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,330.3,253,-37.0,-10.000
$D_GRID,103
$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,17,-2.65,-34.9,0.0,0.0,0,125,0.00,0.00,-99.75,0.000,6,0.000,0.000,594,2397,3600
$GC,127,-2.69,-67.3,3.7,-3.8,15,150,10.70,1.30,-3.92,0.000,4,0.183,0.140,2396,0,3732
$GC,209,-2.74,-111.0,6.4,-1.6,29,217,0.00,1.23,-4.72,0.000,6,0.000,0.098,2396,2387,3912
$GC,281,-2.75,-114.8,10.7,-9.3,42,289,0.00,2.97,-0.25,0.000,4,0.000,0.121,2397,3800,3926
$GC,526,-2.75,-114.8,55.1,-20.3,88,534,0.00,2.95,0.00,0.000,6,0.000,0.103,2396,2390,3926
$GC,667,-2.75,-114.8,82.6,-19.2,113,673,0.00,2.92,0.00,0.000,4,0.000,0.104,2396,3803,3926
$GC,737,-2.75,-114.8,98.0,-21.5,126,745,0.00,2.92,0.00,0.000,6,0.000,0.101,2396,2395,3926
$STATE,759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,759,begin apogee
$GC,763,-0.35,0.0,103.0,20.9,130,862,2.70,0.00,91.68,0.926,6,0.135,0.000,2905,2368,3457
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,864,2.75,114.8,106.6,0.0,146,963,3.10,0.00,91.38,0.879,6,0.061,0.000,3586,2369,2988
$GC,1092,2.75,114.8,62.8,25.8,186,1100,0.00,2.95,0.00,0.000,4,0.000,0.102,3586,3782,2987
$GC,1202,2.75,114.8,34.9,25.6,206,1210,0.00,2.92,0.00,0.000,6,0.000,0.098,3586,2373,2988
$STATE,1335,end climb,SURFACE_DEPTH_REACHED
$STATE,1335,begin surface coast
$FINISH,1.9,1.019856
$STATE,1353,end surface coast,CONTROL_FINISHED_OK
$STATE,1353,begin surface
$SM_CCo,1373,379.08,0.804,1,0,1011,600.00
$SM_GC,1.17,0.00,0.00,379.08,0.000,0.000,0.804,592,2374,1011,-11.03,-0.45,600.00
$IRIDIUM_FIX,4751.72,-12223.57,111207,171725
$TT8_MAMPS,0.02301
$HUMID,1509
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,18.60
$XPDR_PINGS,65
$24V_AH,23.6,4.172
$10V_AH,10.1,1.533
$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,30.400,20.225,183.050,379.075,0.000,39.883,35.242,185.734,16.250,0.000,0.000,33.889,362.831,141.860,597.018,722.807,308.812,0.000,912.978,0.000,429.998,0.000,0.468
$DEVICE_MAMPS,183.313,165.672,925.769,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,155.487,579.624,0.000,278.146,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12848,234
$CFSIZE,260165632,258404352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,111207,152229,4807.997,-12223.959,11,2.4,30,18.3