version: 66.03
glider: 121
mission: 2
dive: 22
start: 2 12 108 15 43 8
data:
$ID,121
$MISSION,2
$DIVE,22
$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,-61468.934
$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,25
$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
$GPS1,153815,4806.030,-12222.090,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.9
$GPS2,154208,4806.042,-12222.098,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.209
$KALMAN_X,-2990.4,-361.8,-112.8,4517.3,-90.7
$KALMAN_Y,2298.8,149.7,48.7,-4735.8,66.4
$MHEAD_RNG_PITCHd_Wd,123.0,2360,-16.9,-10.000
$D_GRID,108
$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,-1.73,-156.4,0.0,0.0,0,96,0.00,0.00,-76.57,0.000,2,0.000,0.000,408,2202,2159
$GC,98,-1.73,-156.4,3.2,-5.7,14,155,12.55,2.58,-37.20,0.000,4,0.189,0.081,2465,3593,3438
$GC,172,-1.73,-156.4,8.1,-11.7,27,178,0.00,2.47,0.00,0.000,6,0.000,0.041,2465,2191,3438
$GC,246,-1.73,-156.4,17.8,-13.2,40,253,0.00,2.60,0.00,0.000,4,0.000,0.064,2465,3594,3437
$GC,292,-1.73,-156.4,23.9,-13.3,46,296,0.00,2.50,0.00,0.000,6,0.000,0.041,2466,2175,3438
$GC,488,-1.73,-156.4,50.0,-13.6,64,492,0.00,2.62,0.00,0.000,4,0.000,0.064,2466,3594,3437
$GC,576,-1.73,-156.4,62.6,-13.9,71,584,0.00,2.45,0.00,0.000,6,0.000,0.040,2465,2217,3437
$GC,901,-1.73,-156.4,105.6,-13.0,102,905,0.00,2.55,0.00,0.000,4,0.000,0.064,2465,3600,3437
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,926,-0.45,0.0,108.4,12.8,103,1053,1.45,0.00,120.78,0.848,6,0.117,0.000,2742,2150,2800
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1055,1.73,156.4,113.2,0.0,116,1185,2.25,2.60,120.32,0.808,4,0.065,0.061,3227,749,2162
$GC,1224,1.73,156.4,100.0,12.6,132,1229,0.00,2.45,0.00,0.000,6,0.000,0.040,3227,2160,2162
$GC,1549,1.73,156.4,62.6,11.3,162,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2160,2161
$GC,1867,1.73,156.4,27.6,11.2,192,1871,0.00,2.53,0.00,0.000,4,0.000,0.063,3227,3548,2162
$GC,1978,1.73,156.4,15.0,11.4,205,1984,0.00,2.42,0.00,0.000,6,0.000,0.037,3227,2155,2162
$GC,2053,1.77,194.8,7.9,8.3,218,2087,0.00,0.00,30.88,0.783,6,0.000,0.000,3227,2155,2004
$GC,2154,2.08,447.3,3.3,-0.9,236,2249,0.30,0.00,90.97,0.756,2,0.045,0.000,3303,2155,1516
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,2.3,1.018423
$STATE,2401,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2401,begin surface
$SM_CCo,2421,185.55,0.736,1,0,206,636.31
$SM_GC,0.88,0.00,0.00,185.55,0.000,0.000,0.736,410,2201,206,-11.22,0.03,636.31
$IRIDIUM_FIX,4748.51,-12226.29,080597,151543
$TT8_MAMPS,0.024544
$HUMID,1564
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.2,26.0
$24V_AH,23.7,8.574
$10V_AH,10.1,1.933
$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,30.150,30.450,362.950,185.550,0.000,30.024,12.717,129.553,2.000,0.000,0.000,13.033,427.620,1032.746,575.288,617.706,217.670,33.335,936.432,0.000,609.535,0.000,14.382
$DEVICE_MAMPS,188.682,84.370,847.535,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.473,483.277,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12768,280
$CAP_FILE_SIZE,36856,0
$CFSIZE,260165632,257830912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120208,162747,4805.805,-12221.907,16,2.4,35,18.3