version: 66.03
glider: 136
mission: 2
dive: 21
start: 4 1 108 13 34 8
data:
$ID,136
$MISSION,2
$DIVE,21
$D_SURF,5.5999999
$D_FLARE,3
$D_TGT,195
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51077
$NAV_MODE,1
$FERRY_MAX,45
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,690
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54510.898
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2077
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3900
$C_VBD,3522
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-2.6718953
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$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,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
$DEVICE2,35
$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,0.0043748552
$SEABIRD_T_H,0.00063281442
$SEABIRD_T_I,2.1647942e-05
$SEABIRD_T_J,1.9060326e-06
$SEABIRD_C_G,-9.9140806
$SEABIRD_C_H,1.1150324
$SEABIRD_C_I,-0.00094694644
$SEABIRD_C_J,0.00016052932
$GPS1,132733,4807.575,-12223.611,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.1
$GPS2,133308,4807.583,-12223.646,9,1.2,14,18.3
$SPEED_LIMITS,0.225,0.282
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.242
$KALMAN_X,-199.2,14.9,17.2,-880.3,47.1
$KALMAN_Y,482.4,-60.9,17.3,-1561.6,-60.7
$MHEAD_RNG_PITCHd_Wd,310.6,887,-21.9,-13.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-146.6,0.0,0.0,0,144,0.00,0.00,-120.72,0.000,2,0.000,0.000,673,2060,3525
$GC,147,-1.75,-146.6,3.1,-1.1,22,178,10.55,2.58,-14.12,0.000,4,0.145,0.054,2574,3494,3901
$GC,416,-1.75,-146.6,32.6,-15.7,84,423,0.00,2.50,0.00,0.000,6,0.000,0.035,2574,2072,3901
$GC,487,-1.75,-146.6,43.2,-15.4,100,494,0.00,2.55,0.00,0.000,4,0.000,0.044,2574,3495,3901
$GC,754,-1.75,-146.6,83.7,-15.3,158,760,0.00,2.50,0.00,0.000,6,0.000,0.035,2574,2073,3900
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,890,begin apogee
$GC,896,-0.36,0.0,103.3,13.8,188,976,1.52,0.00,71.57,0.900,6,0.099,0.000,2875,2160,3522
$STATE,977,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,979,1.75,146.6,106.5,0.0,203,1101,2.15,2.70,111.30,0.881,4,0.061,0.064,3339,743,2924
$GC,1162,1.75,146.6,92.8,13.5,239,1168,0.00,2.55,0.00,0.000,6,0.000,0.048,3339,2148,2924
$GC,1305,1.76,156.3,74.2,12.4,270,1322,0.00,2.60,9.12,0.730,4,0.000,0.046,3339,3557,2884
$GC,1361,1.76,156.3,66.5,13.8,281,1367,0.00,2.47,0.00,0.000,6,0.000,0.033,3340,2154,2884
$GC,1504,1.77,166.3,48.1,12.4,312,1521,0.00,2.58,9.12,0.722,4,0.000,0.044,3339,3554,2844
$GC,1545,1.77,166.3,42.5,13.4,320,1552,0.00,2.47,0.00,0.000,6,0.000,0.032,3339,2149,2844
$GC,1615,1.77,166.3,33.1,13.3,336,1622,0.00,2.55,0.00,0.000,4,0.000,0.044,3339,3570,2844
$GC,1649,1.77,166.3,28.6,14.4,343,1656,0.00,2.50,0.00,0.000,6,0.000,0.031,3339,2143,2844
$GC,1720,1.79,177.1,19.6,12.4,359,1738,0.00,2.60,9.93,0.725,4,0.000,0.044,3339,3557,2800
$GC,1789,1.79,177.1,10.6,15.8,374,1796,0.00,2.47,0.00,0.000,6,0.000,0.031,3339,2147,2800
$STATE,1821,end climb,SURFACE_DEPTH_REACHED
$STATE,1821,begin surface coast
$FINISH,2.3,1.016895
$STATE,1859,end surface coast,CONTROL_FINISHED_OK
$STATE,1859,begin surface
$SM_CCo,1881,355.38,0.788,2,0,708,690.03
$SM_GC,1.07,0.00,0.00,355.38,0.000,0.000,0.788,676,2064,708,-10.51,-0.37,690.03
$IRIDIUM_FIX,4751.72,-12056.72,260697,121229
$TT8_MAMPS,0.03068
$HUMID,1421
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,188.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,41.2
$24V_AH,23.4,3.530
$10V_AH,10.1,1.146
$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,26.275,35.900,211.050,355.375,0.000,29.433,29.454,170.682,0.500,0.000,0.000,15.597,563.388,283.505,658.252,751.463,349.320,33.328,1051.620,0.000,748.288,0.000,5.463
$DEVICE_MAMPS,144.963,65.962,900.458,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.596,527.087,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19125,390
$CAP_FILE_SIZE,41525,0
$CFSIZE,260165632,258351104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010408,141221,4807.704,-12223.675,6,1.8,6,18.3