version: 66.02
glider: 140
mission: 2
dive: 21
start: 12 11 107 15 27 53
data:
$ID,140
$MISSION,2
$DIVE,21
$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,-2343.0339
$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
$GPS1,152229,4807.997,-12223.959,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.2
$GPS2,152727,4808.007,-12223.984,14,1.6,14,18.3
$SPEED_LIMITS,0.100,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$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,128.6,2227,-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,-195.5,0.0,0.0,0,138,0.00,0.00,-115.53,0.000,6,0.000,0.000,593,2374,3979
$GC,140,-1.29,-195.5,4.7,-7.1,17,163,12.27,3.03,0.00,0.000,4,0.175,0.110,2705,3805,3981
$GC,192,-1.29,-195.5,9.6,-5.5,25,200,0.00,2.30,0.00,0.000,6,0.000,0.097,2706,0,3981
$GC,264,-1.29,-195.5,13.8,-5.9,38,272,0.00,0.82,0.00,0.000,4,0.000,0.114,2706,3157,3981
$GC,504,-1.29,-195.5,32.8,-8.5,84,512,0.00,0.08,0.00,0.000,6,0.000,0.125,2705,0,3980
$GC,643,-1.29,-195.5,44.1,-8.5,109,649,0.00,0.10,0.00,0.000,4,0.000,0.119,2705,3160,3980
$GC,755,-1.29,-195.5,53.3,-8.3,129,760,0.00,0.10,0.00,0.000,6,0.000,0.114,2705,0,3980
$GC,889,-1.29,-195.5,64.9,-9.0,154,897,0.00,1.50,0.00,0.000,4,0.000,0.107,2706,3801,3980
$GC,1129,-1.29,-195.5,85.8,-8.2,198,1137,0.00,1.42,0.00,0.000,6,0.000,0.097,2706,0,3980
$GC,1268,-1.29,-195.5,97.2,-8.6,223,1274,0.00,0.08,0.00,0.000,4,0.000,0.132,2705,3137,3980
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1370,-0.35,0.0,105.3,8.1,241,1479,0.98,0.00,102.15,0.920,6,0.096,0.000,2907,0,3457
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1482,1.29,195.5,107.9,0.0,259,1645,1.65,1.50,153.10,0.870,4,0.065,0.111,3273,3781,2660
$GC,1739,1.29,195.5,80.6,13.8,303,1745,0.00,1.42,0.00,0.000,6,0.000,0.088,3273,0,2660
$GC,1873,1.29,195.5,62.1,12.9,328,1881,0.00,0.10,0.00,0.000,4,0.000,0.120,3273,3133,2660
$GC,2090,1.29,195.5,32.5,13.1,368,2098,0.00,0.12,0.00,0.000,6,0.000,0.103,3273,0,2660
$GC,2224,1.29,195.5,15.1,12.7,393,2232,0.00,1.45,0.00,0.000,4,0.000,0.097,3273,3780,2660
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2310,begin surface coast
$FINISH,1.7,1.017813
$STATE,2342,end surface coast,CONTROL_FINISHED_OK
$STATE,2342,begin surface
$SM_CCo,2362,318.27,0.802,1,0,1011,600.00
$SM_GC,1.14,0.00,0.00,318.27,0.000,0.000,0.802,588,0,1011,-11.05,-67.57,600.00
$IRIDIUM_FIX,4751.72,-12157.59,111207,181816
$TT8_MAMPS,0.02301
$HUMID,1534
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,18.80
$XPDR_PINGS,88
$24V_AH,23.6,4.322
$10V_AH,10.1,1.583
$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,26.950,15.500,255.250,318.275,0.000,38.946,41.632,147.589,22.000,0.000,0.000,14.838,605.770,317.010,599.702,1196.106,284.893,0.000,1070.784,0.000,749.469,0.000,0.468
$DEVICE_MAMPS,174.876,131.924,919.633,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,278.338,966.716,0.000,462.947,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22284,415
$CFSIZE,260165632,258367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,111207,161357,4808.033,-12223.940,34,2.1,53,18.3