version: 66.02
glider: 144
mission: 2
dive: 9
start: 12 12 107 4 39 47
data:
$ID,144
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,51458
$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,670
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-706.19714
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$C_ROLL_DIVE,2160
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,3503
$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,-2.6104116
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,54
$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,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,043307,4806.522,-12222.500,9,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.0
$GPS2,043926,4806.610,-12222.581,10,1.8,10,18.3
$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,129.2,1339,-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,17,-1.30,-195.5,0.0,0.0,0,129,0.00,0.00,-109.20,0.000,2,0.000,0.000,494,2195,3427
$GC,132,-1.30,-195.5,3.1,-2.6,20,167,10.55,2.53,-17.88,0.000,4,0.163,0.071,2465,755,3951
$GC,297,-1.30,-195.5,12.6,-7.2,49,304,0.00,2.40,0.00,0.000,6,0.000,0.045,2465,2166,3952
$GC,371,-1.30,-195.5,18.1,-7.8,62,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2166,3952
$GC,445,-1.30,-195.5,24.2,-9.0,75,451,0.00,2.47,0.00,0.000,4,0.000,0.061,2465,755,3951
$GC,485,-1.30,-195.5,28.2,-9.6,82,492,0.00,2.40,0.00,0.000,6,0.000,0.045,2465,2165,3951
$GC,559,-1.30,-195.5,35.4,-9.2,95,565,0.00,2.47,0.00,0.000,4,0.000,0.061,2465,756,3951
$GC,616,-1.30,-195.5,40.8,-10.0,105,622,0.00,2.40,0.00,0.000,6,0.000,0.045,2465,2161,3951
$GC,757,-1.30,-195.5,53.4,-8.6,130,763,0.00,2.47,0.00,0.000,4,0.000,0.061,2465,752,3951
$GC,836,-1.30,-195.5,60.8,-9.1,144,843,0.00,2.40,0.00,0.000,6,0.000,0.045,2465,2165,3951
$GC,978,-1.30,-195.5,73.3,-8.9,169,984,0.00,2.47,0.00,0.000,4,0.000,0.061,2465,756,3951
$GC,1069,-1.30,-195.5,82.0,-9.8,185,1075,0.00,2.40,0.00,0.000,6,0.000,0.045,2465,2163,3951
$GC,1210,-1.30,-195.5,94.7,-9.0,210,1216,0.00,2.47,0.00,0.000,4,0.000,0.061,2465,752,3952
$GC,1340,-1.30,-195.5,107.2,-9.8,233,1346,0.00,2.40,0.00,0.000,6,0.000,0.046,2465,2160,3951
$GC,1481,-1.30,-195.5,116.8,-0.4,258,1487,0.00,2.45,0.00,0.000,4,0.000,0.058,2465,745,3951
$GC,1740,-1.30,-195.5,116.8,-0.2,304,1746,0.00,2.40,0.00,0.000,6,0.000,0.044,2465,2169,3951
$GC,1881,-1.30,-195.5,116.8,0.1,329,1887,0.00,2.47,0.00,0.000,4,0.000,0.059,2465,752,3952
$STATE,2105,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2105,begin apogee
$GC,2112,-0.36,0.0,116.6,-0.5,369,2203,0.90,0.00,86.05,0.692,6,0.065,0.000,2673,2198,3503
$STATE,2204,end apogee,CONTROL_FINISHED_OK
$STATE,2204,begin climb
$GC,2205,1.30,195.5,116.6,0.0,386,2364,1.58,0.00,150.23,0.669,6,0.063,0.000,3033,2198,2705
$GC,2499,1.30,195.5,93.7,10.8,440,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,2705
$GC,2640,1.30,195.5,79.0,10.4,465,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,2705
$GC,2779,1.30,195.5,64.2,10.7,490,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,2705
$GC,2920,1.30,195.5,49.2,10.4,515,2926,0.00,2.42,0.00,0.000,4,0.000,0.058,3033,3593,2705
$GC,2959,1.30,195.5,44.7,11.4,522,2965,0.00,2.38,0.00,0.000,6,0.000,0.041,3033,2185,2705
$GC,3100,1.30,195.5,29.3,10.7,547,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2185,2705
$GC,3174,1.30,197.7,21.8,9.9,560,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2185,2705
$GC,3247,1.31,202.2,14.3,9.8,573,3260,0.00,2.45,7.15,0.549,4,0.000,0.056,3033,3594,2677
$GC,3283,1.31,202.2,10.2,11.7,579,3289,0.00,2.38,0.00,0.000,6,0.000,0.041,3033,2182,2677
$STATE,3344,end climb,SURFACE_DEPTH_REACHED
$STATE,3344,begin surface coast
$FINISH,1.9,1.015553
$STATE,3390,end surface coast,CONTROL_FINISHED_OK
$STATE,3390,begin surface
$SM_CCo,3408,362.02,0.590,0,0,771,670.16
$SM_GC,1.27,0.00,0.00,362.02,0.000,0.000,0.590,495,2180,771,-10.39,0.57,670.16
$IRIDIUM_FIX,4748.51,-12219.12,121207,070731
$TT8_MAMPS,0.026078
$HUMID,1617
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.10
$XPDR_PINGS,186
$24V_AH,23.7,1.623
$10V_AH,10.1,0.697
$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,24.125,48.725,243.425,362.025,0.000,41.070,32.065,221.012,47.250,0.000,0.000,12.046,876.762,1143.790,709.535,1052.059,383.351,0.000,1254.524,0.000,1053.421,0.000,5.612
$DEVICE_MAMPS,162.604,71.331,691.834,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,406.990,272.415,0.000,634.653,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34933,598
$CFSIZE,260165632,258646016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121207,054321,4806.380,-12222.396,9,2.0,9,18.3