version: 66.03
glider: 1
mission: 2
dive: 21
start: 12 6 107 16 18 26
data:
$ID,1
$MISSION,2
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,145
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-648966.19
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$ROLL_DEG,55
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.22280908
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,680
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,161013,4804.032,-12219.990,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-147.6
$GPS2,161721,4804.038,-12219.983,28,1.1,28,18.0
$SPEED_LIMITS,0.165,0.243
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.215
$KALMAN_X,9280.9,569.3,23.3,-6575.0,416.1
$KALMAN_Y,-12890.3,-715.5,103.2,9106.3,-648.4
$MHEAD_RNG_PITCHd_Wd,309.4,8859,-17.8,-10.000
$D_GRID,1001
$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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,47,-1.13,-141.1,0.0,0.0,0,134,0.00,0.00,-79.45,0.000,6,0.000,0.000,662,2083,2842
$GC,140,-1.13,-141.1,0.7,-2.2,15,156,6.80,2.92,0.00,0.000,4,0.000,0.000,2020,3789,2838
$GC,321,-1.13,-141.1,24.7,-18.6,43,326,0.00,3.12,0.00,0.000,6,0.000,0.000,2028,1900,2839
$GC,704,-1.13,-141.1,92.2,-16.9,104,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1895,2830
$GC,1098,-1.13,-141.1,94.8,20.1,165,1123,0.00,12.30,0.00,0.000,4,0.000,0.000,2021,190,2832
$GC,1411,-1.13,-141.1,36.6,17.6,214,1417,0.00,3.22,0.00,0.000,6,0.000,0.000,2032,2093,2838
$GC,1799,-1.13,-141.1,-0.0,-0.0,275,1804,0.00,2.83,0.00,0.000,4,0.000,0.000,2036,3790,2833
$GC,2094,-1.13,-141.1,-0.0,-0.0,321,2099,0.00,3.12,0.00,0.000,6,0.000,0.000,2024,1863,2839
$STATE,2109,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2109,begin apogee
$GC,2127,-0.25,0.0,-0.0,0.0,324,2132,0.95,0.00,2.50,0.000,2,0.000,0.000,2208,2100,2838
$STATE,2133,end apogee,SURFACE_DEPTH_REACHED
$STATE,2133,begin surface coast
$FINISH,-0.0,NaN
$STATE,2235,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2235,begin surface
$SM_CCo,2262,469.35,0.000,49,0,428,450.62
$SM_CCo,2984,0.00,0.000,0,0,429,450.37
$SM_CCo,2990,0.10,0.001,0,0,424,450.37
$SM_GC,-0.00,0.00,0.00,0.10,0.000,0.000,0.001,639,1854,424,-7.51,-3.73,450.37
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,2400
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.7,61.314
$10V_AH,9.7,24.109
$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,15.475,28.475,2.500,469.450,0.000,0.000,0.000,138.536,0.000,0.000,0.000,29.234,356.907,517.829,788.414,966.974,817.186,33.343,1117.098,0.000,694.035,720.000,3.575
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,0.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,341
$CAP_FILE_SIZE,184300,8
$CFSIZE,255582208,245329920
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,26,195,49,0
$SOUNDSPEED,1465.0
$GPS,061207,170941,4804.058,-12220.184,20,1.1,20,18.0