version: 66.03
glider: 121
mission: 2
dive: 17
start: 2 12 108 11 24 45
data:
$ID,121
$MISSION,2
$DIVE,17
$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,-61358.977
$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,31
$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
$GPS1,111145,4806.584,-12222.757,14,1.7,14,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.7
$GPS2,112347,4806.612,-12222.804,10,2.3,29,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.181
$KALMAN_X,-1858.9,-359.1,-69.1,2470.5,-45.3
$KALMAN_Y,1618.1,284.4,-45.3,-3042.1,-41.6
$MHEAD_RNG_PITCHd_Wd,114.1,1508,-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,-156.4,0.0,0.0,0,96,0.00,0.00,-76.70,0.000,2,0.000,0.000,410,2189,2157
$GC,98,-1.73,-156.4,3.4,-5.2,14,144,12.80,0.00,-28.58,0.000,6,0.198,0.000,2465,2188,3440
$GC,211,-1.73,-156.4,19.6,-13.1,34,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2188,3440
$GC,280,-1.73,-156.4,28.7,-13.3,41,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2188,3440
$GC,471,-1.73,-156.4,53.4,-13.1,59,475,0.00,2.60,0.00,0.000,4,0.000,0.065,2465,3599,3440
$GC,536,-1.73,-156.4,62.5,-13.8,64,543,0.00,2.47,0.00,0.000,6,0.000,0.041,2465,2208,3440
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,853,-0.45,0.0,103.6,12.6,94,982,1.48,0.00,121.55,0.855,6,0.117,0.000,2744,2140,2799
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,984,1.73,156.4,108.2,0.0,107,1114,2.22,2.58,120.30,0.813,4,0.066,0.061,3224,754,2162
$GC,1220,1.73,156.4,86.9,12.0,129,1225,0.00,2.42,0.00,0.000,6,0.000,0.040,3223,2152,2162
$GC,1545,1.73,156.4,50.2,11.7,159,1549,0.00,2.55,0.00,0.000,4,0.000,0.061,3224,3549,2163
$GC,1628,1.73,156.4,40.0,12.4,166,1632,0.00,2.42,0.00,0.000,6,0.000,0.037,3223,2163,2163
$GC,1825,1.75,174.2,18.8,9.2,185,1843,0.00,0.00,15.40,0.775,6,0.000,0.000,3224,2163,2089
$GC,1910,1.81,225.5,11.2,7.8,200,1961,0.00,2.65,40.70,0.772,4,0.000,0.061,3224,739,1880
$GC,2001,1.97,352.7,6.3,4.5,216,2106,0.25,2.45,97.20,0.749,6,0.046,0.041,3289,2164,1361
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,1.4,1.017404
$STATE,2258,end surface coast,CONTROL_FINISHED_OK
$STATE,2258,begin surface
$SM_CCo,2277,185.85,0.738,0,0,206,636.31
$SM_GC,0.99,0.00,0.00,185.85,0.000,0.000,0.738,410,2165,206,-11.22,-0.99,636.31
$IRIDIUM_FIX,4748.51,-12224.57,080597,111156
$TT8_MAMPS,0.024544
$HUMID,1562
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.2,31.0
$24V_AH,23.7,7.890
$10V_AH,10.1,1.743
$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,30.275,20.250,395.150,185.850,0.000,98.339,220.288,134.963,2.250,0.000,0.000,30.846,389.241,1136.922,581.121,601.297,501.852,33.324,935.925,0.000,577.417,0.000,10.009
$DEVICE_MAMPS,197.886,75.933,855.205,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.572,452.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12768,262
$CAP_FILE_SIZE,35979,0
$CFSIZE,260165632,257970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120208,120702,4806.446,-12222.643,42,1.2,42,18.3