version: 66.03
glider: 121
mission: 2
dive: 21
start: 2 12 108 14 54 32
data:
$ID,121
$MISSION,2
$DIVE,21
$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,160
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61455.27
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$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
$GPS1,144201,4806.118,-12222.305,37,1.2,43,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.9
$GPS2,145333,4806.161,-12222.351,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.219,-0.154
$KALMAN_X,-2861.5,-364.3,-86.9,4054.6,-118.8
$KALMAN_Y,2224.7,168.2,-1.9,-4410.5,87.4
$MHEAD_RNG_PITCHd_Wd,106.7,526,-16.9,-10.000
$D_GRID,107
$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,18,-1.73,-156.4,0.0,0.0,0,91,0.00,0.00,-71.00,0.000,2,0.000,0.000,411,2194,1970
$GC,93,-1.73,-156.4,3.1,-7.1,13,155,12.50,2.60,-42.10,0.000,4,0.189,0.077,2464,3593,3437
$GC,341,-1.73,-156.4,31.6,-13.5,50,345,0.00,2.45,0.00,0.000,6,0.000,0.041,2465,2196,3437
$GC,537,-1.73,-156.4,58.3,-13.6,68,541,0.00,2.60,0.00,0.000,4,0.000,0.064,2465,3596,3436
$GC,602,-1.73,-156.4,67.6,-14.2,73,610,0.00,2.45,0.00,0.000,6,0.000,0.041,2465,2220,3436
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,908,-0.45,0.0,107.7,12.8,102,1038,1.48,0.00,121.07,0.853,6,0.115,0.000,2746,2137,2800
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1040,1.73,156.4,111.9,0.0,115,1170,2.22,2.55,120.43,0.808,4,0.064,0.061,3225,761,2162
$GC,1198,1.73,156.4,99.6,12.1,130,1202,0.00,2.42,0.00,0.000,6,0.000,0.040,3225,2160,2161
$GC,1524,1.73,156.4,61.9,11.4,160,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2160,2161
$GC,1841,1.73,156.4,27.0,10.8,190,1845,0.00,2.53,0.00,0.000,4,0.000,0.064,3225,3547,2161
$GC,1942,1.73,156.4,15.9,11.1,201,1948,0.00,2.45,0.00,0.000,6,0.000,0.038,3225,2147,2161
$GC,2017,1.78,200.5,8.9,8.1,214,2056,0.00,0.00,35.15,0.780,6,0.000,0.000,3225,2147,1982
$GC,2123,2.08,443.4,4.0,-0.5,233,2261,0.30,0.00,133.98,0.746,2,0.046,0.000,3301,2147,1262
$STATE,2262,end climb,SURFACE_DEPTH_REACHED
$STATE,2262,begin surface coast
$FINISH,0.1,1.016883
$STATE,2402,end surface coast,CONTROL_FINISHED_OK
$STATE,2402,begin surface
$SM_CCo,2422,157.93,0.739,0,0,206,636.31
$SM_GC,0.90,0.00,0.00,157.93,0.000,0.000,0.739,408,2201,206,-11.23,0.03,636.31
$IRIDIUM_FIX,4751.72,-12221.84,080597,141436
$TT8_MAMPS,0.024544
$HUMID,1567
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,91.4,41.3
$24V_AH,23.7,8.444
$10V_AH,10.1,1.895
$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,29.725,20.275,410.625,157.925,0.000,127.060,120.354,122.670,2.500,0.000,0.000,14.442,414.702,1263.423,562.272,624.253,432.866,33.333,932.984,0.000,616.377,0.000,10.032
$DEVICE_MAMPS,189.449,76.700,852.904,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.804,488.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12868,283
$CAP_FILE_SIZE,36395,0
$CFSIZE,260165632,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120208,153815,4806.030,-12222.090,12,1.4,12,18.3