version: 66.02
glider: 141
mission: 1
dive: 21
start: 1 10 108 15 33 38
data:
$ID,141
$MISSION,1
$DIVE,21
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,60
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51810
$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,725.35211
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1983.5861
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3940
$C_ROLL_DIVE,2192
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3955
$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,-2.8140118
$PRESSURE_SLOPE,9.1207337e-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
$DEVICE5,87
$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,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,152215,4811.422,-12225.651,12,1.3,12,18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.9
$GPS2,153315,4811.440,-12225.642,12,1.3,12,18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$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,135.9,13238,-14.9,-10.000
$D_GRID,100
$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,15,begin dive
$GC,16,-1.17,-195.5,0.0,0.0,0,99,0.00,0.00,-80.50,0.000,2,0.000,0.000,570,2192,2426
$GC,101,-1.17,-195.5,3.5,-7.0,11,168,12.82,2.65,-47.80,0.000,4,0.193,0.089,2791,3600,3956
$GC,176,-1.17,-195.5,4.7,-0.0,21,184,0.00,2.60,0.00,0.000,6,0.000,0.064,2790,2195,3957
$GC,248,-1.17,-195.5,4.7,0.1,34,256,0.00,2.67,0.00,0.000,4,0.000,0.079,2790,3595,3957
$GC,264,-1.17,-195.5,4.7,0.1,36,272,0.00,2.60,0.00,0.000,6,0.000,0.054,2790,2186,3958
$GC,336,-1.17,-195.5,4.7,0.0,49,344,0.00,2.70,0.00,0.000,4,0.000,0.078,2791,3599,3958
$GC,352,-1.17,-195.5,4.7,-0.0,51,360,0.00,2.60,0.00,0.000,6,0.000,0.055,2790,2194,3958
$GC,424,-1.17,-195.5,4.7,-0.3,64,432,0.00,2.67,0.00,0.000,4,0.000,0.077,2790,3599,3958
$GC,439,-1.17,-195.5,4.7,0.0,66,447,0.00,2.60,0.00,0.000,6,0.000,0.056,2790,2188,3958
$GC,512,-1.17,-195.5,4.7,0.1,79,520,0.00,2.67,0.00,0.000,4,0.000,0.073,2790,3593,3958
$GC,756,-1.17,-195.5,4.7,0.1,125,763,0.00,2.58,0.00,0.000,6,0.000,0.057,2791,2195,3958
$GC,828,-1.17,-195.5,4.7,-0.1,138,836,0.00,2.67,0.00,0.000,4,0.000,0.072,2790,3600,3958
$GC,1071,-1.17,-195.5,4.7,0.1,184,1079,0.00,2.60,0.00,0.000,6,0.000,0.057,2791,2193,3958
$GC,1144,-1.17,-195.5,4.7,-0.0,197,1151,0.00,2.67,0.00,0.000,4,0.000,0.079,2790,3595,3958
$GC,1158,-1.17,-195.5,4.7,-0.1,199,1166,0.00,2.58,0.00,0.000,6,0.000,0.056,2790,2195,3958
$GC,1231,-1.17,-195.5,4.7,-0.0,212,1239,0.00,2.67,0.00,0.000,4,0.000,0.072,2790,3601,3958
$GC,1474,-1.17,-195.5,4.7,-0.1,258,1482,0.00,2.60,0.00,0.000,6,0.000,0.057,2790,2198,3957
$GC,1547,-1.17,-195.5,4.7,0.1,271,1555,0.00,2.67,0.00,0.000,4,0.000,0.072,2790,3599,3958
$GC,1791,-1.17,-195.5,4.7,-0.1,317,1799,0.00,2.60,0.00,0.000,6,0.000,0.058,2790,2195,3958
$STATE,1810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1810,begin apogee
$GC,1813,-0.31,0.0,4.6,-0.2,320,1823,0.82,0.00,6.57,0.630,2,0.097,0.000,2974,2139,3925
$STATE,1824,end apogee,SURFACE_DEPTH_REACHED
$STATE,1824,begin surface coast
$FINISH,4.7,1.014937
$STATE,1831,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1831,begin surface
$SM_CCo,1847,646.10,0.651,0,0,500,725.35
$SM_GC,0.83,0.00,0.00,646.10,0.000,0.000,0.651,575,2194,500,-11.39,0.06,725.35
$IRIDIUM_FIX,4754.94,-12227.03,100108,191911
$TT8_MAMPS,0.042185
$HUMID,1263
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,10.70
$XPDR_PINGS,205
$24V_AH,24.1,3.344
$10V_AH,10.1,1.632
$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,23.925,47.575,6.575,646.100,0.000,196.648,151.820,0.000,51.250,0.000,0.000,14.352,555.878,246.069,786.702,1166.613,418.527,0.000,1146.888,0.000,1184.772,0.000,0.923
$DEVICE_MAMPS,193.284,96.642,629.707,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,223.487,226.395,329.519,557.347,1090.041,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22522,322
$CFSIZE,260165632,258125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100108,161608,4811.417,-12225.647,12,1.3,23,18.4