version: 66.03
glider: 121
mission: 2
dive: 15
start: 2 12 108 9 38 36
data:
$ID,121
$MISSION,2
$DIVE,15
$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,-61316.082
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,093423,4807.006,-12223.037,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.0
$GPS2,093737,4806.996,-12223.065,22,1.4,32,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,-0.191
$KALMAN_X,-1420.7,-349.5,-103.9,1730.7,-42.9
$KALMAN_Y,1421.6,360.7,45.5,-2299.8,-87.6
$MHEAD_RNG_PITCHd_Wd,117.2,2266,-16.9,-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,17,-1.73,-156.4,0.0,0.0,0,85,0.00,0.00,-65.93,0.000,2,0.000,0.000,410,2183,1927
$GC,87,-1.73,-156.4,3.2,-7.0,12,143,12.62,0.00,-36.25,0.000,6,0.192,0.000,2465,2184,3439
$GC,210,-1.73,-156.4,20.3,-14.9,34,215,0.00,2.65,0.00,0.000,4,0.000,0.068,2465,3597,3439
$GC,283,-1.73,-156.4,30.2,-13.0,40,287,0.00,2.47,0.00,0.000,6,0.000,0.041,2465,2191,3439
$GC,479,-1.73,-156.4,57.2,-14.4,58,483,0.00,2.62,0.00,0.000,4,0.000,0.067,2465,3600,3438
$GC,532,-1.73,-156.4,65.3,-14.5,62,540,0.00,2.47,0.00,0.000,6,0.000,0.042,2465,2211,3438
$STATE,814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,814,begin apogee
$GC,818,-0.45,0.0,103.1,12.8,89,947,1.48,0.00,121.00,0.838,6,0.113,0.000,2746,2143,2800
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,949,1.73,156.4,107.6,0.0,102,1079,2.22,2.58,120.43,0.804,4,0.065,0.061,3224,757,2162
$GC,1189,1.73,156.4,85.8,12.8,124,1197,0.00,2.45,0.00,0.000,6,0.000,0.041,3224,2151,2162
$GC,1515,1.73,156.4,48.6,11.1,155,1520,0.00,2.53,0.00,0.000,4,0.000,0.063,3224,3549,2162
$GC,1581,1.73,156.4,40.5,11.6,160,1588,0.00,2.45,0.00,0.000,6,0.000,0.038,3224,2169,2161
$GC,1779,1.74,171.0,20.0,9.4,179,1796,0.00,0.00,12.88,0.765,6,0.000,0.000,3224,2169,2101
$GC,1864,1.84,247.2,12.9,6.7,194,1931,0.12,2.60,58.95,0.765,4,0.063,0.061,3255,3554,1791
$GC,2184,2.13,483.5,6.2,-0.2,251,2311,0.25,2.42,120.65,0.750,2,0.047,0.036,3315,2158,1150
$STATE,2312,end climb,SURFACE_DEPTH_REACHED
$STATE,2312,begin surface coast
$FINISH,0.5,1.016619
$STATE,2408,end surface coast,CONTROL_FINISHED_OK
$STATE,2408,begin surface
$SM_CCo,2428,162.43,0.736,0,0,205,636.31
$SM_GC,0.97,0.00,0.00,162.43,0.000,0.000,0.736,411,2202,205,-11.22,0.06,636.31
$IRIDIUM_FIX,4748.51,-12217.40,080597,090927
$TT8_MAMPS,0.024544
$HUMID,1557
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.7,7.603
$10V_AH,10.1,1.666
$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,30.175,25.425,433.900,162.425,0.000,27.795,12.084,74.359,1.750,0.000,0.000,32.131,421.109,977.887,587.468,668.740,155.586,33.320,974.290,0.000,639.728,0.000,14.543
$DEVICE_MAMPS,191.750,88.972,838.331,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.882,502.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12786,291
$CAP_FILE_SIZE,34714,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120208,102233,4806.777,-12222.869,15,1.7,15,18.3