version: 66.03
glider: 121
mission: 2
dive: 6
start: 2 12 108 3 1 44
data:
$ID,121
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$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,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,999
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51302
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,636.30817
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-61148.672
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3732
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,201
$ROLL_MAX,3911
$ROLL_DEG,40
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,206
$VBD_MAX,3579
$C_VBD,2800
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.0575342
$PRESSURE_SLOPE,9.0818496e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$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,0.0043400279
$SEABIRD_T_H,0.00064233661
$SEABIRD_T_I,2.4555682e-05
$SEABIRD_T_J,2.4993287e-06
$SEABIRD_C_G,-10.113699
$SEABIRD_C_H,1.1500579
$SEABIRD_C_I,-0.0013056453
$SEABIRD_C_J,0.00017561685
$GPS1,025303,4808.022,-12223.992,13,1.4,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.7
$GPS2,030045,4808.100,-12224.071,14,1.8,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,-0.229
$KALMAN_X,-255.7,-107.9,-40.3,-978.2,-29.4
$KALMAN_Y,659.9,255.9,88.7,561.6,124.6
$MHEAD_RNG_PITCHd_Wd,133.3,2430,-17.5,-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,16,-1.77,-146.6,0.0,0.0,0,101,0.00,0.00,-81.53,0.000,2,0.000,0.000,408,2163,2211
$GC,102,-1.77,-146.6,3.3,-7.2,15,147,12.70,0.00,-26.85,0.000,6,0.197,0.000,2455,2163,3398
$GC,214,-1.77,-146.6,18.0,-13.2,35,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2163,3398
$GC,284,-1.77,-146.6,26.6,-12.3,43,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2163,3398
$GC,475,-1.77,-146.6,51.5,-13.4,61,479,0.00,2.60,0.00,0.000,4,0.000,0.070,2455,3564,3398
$GC,558,-1.77,-146.6,62.9,-13.3,68,562,0.00,2.55,0.00,0.000,6,0.000,0.042,2455,2117,3398
$STATE,870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,870,begin apogee
$GC,873,-0.45,0.0,103.5,12.5,97,993,1.55,0.00,113.43,0.851,6,0.123,0.000,2745,2117,2800
$STATE,994,end apogee,CONTROL_FINISHED_OK
$STATE,994,begin climb
$GC,995,1.77,146.6,107.3,0.0,109,1122,2.28,2.58,113.18,0.810,4,0.071,0.062,3234,739,2202
$GC,1260,1.77,146.6,81.2,13.1,133,1268,0.00,2.47,0.00,0.000,6,0.000,0.044,3234,2136,2201
$GC,1586,1.77,146.6,43.6,10.8,164,1590,0.00,2.60,0.00,0.000,4,0.000,0.067,3234,3554,2202
$GC,1684,1.77,146.6,31.9,11.8,172,1692,0.00,2.47,0.00,0.000,6,0.000,0.038,3233,2156,2201
$GC,1887,1.80,170.3,10.5,8.9,199,1916,0.00,2.60,19.55,0.781,4,0.000,0.060,3234,745,2105
$GC,2169,2.06,385.3,6.5,0.1,249,2210,0.30,2.40,34.90,0.777,2,0.044,0.043,3305,2130,1928
$STATE,2211,end climb,NO_VERTICAL_VELOCITY
$STATE,2211,begin surface
$SM_CCo,2213,296.92,0.685,15,0,206,636.31
$SM_GC,0.99,13.20,0.00,0.00,0.043,0.000,0.000,408,2133,204,-11.19,-1.05,636.80
$IRIDIUM_FIX,4748.51,-12221.84,080597,030343
$TT8_MAMPS,0.024544
$HUMID,1569
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,17.20
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.3,39.2
$24V_AH,23.7,6.361
$10V_AH,10.1,1.362
$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,30.025,20.275,281.050,296.925,0.000,47.078,151.624,135.212,2.500,0.000,0.000,14.671,400.536,1124.691,700.517,578.696,377.360,33.323,1024.551,0.000,570.500,0.000,8.502
$DEVICE_MAMPS,197.119,69.797,851.370,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.400,441.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9664,256
$CAP_FILE_SIZE,35122,0
$CFSIZE,260165632,258240512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,120208,034721,4807.967,-12224.131,12,1.3,12,18.3