version: 66.03
glider: 121
mission: 2
dive: 18
start: 2 12 108 12 11 40
data:
$ID,121
$MISSION,2
$DIVE,18
$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,-61393.066
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,120702,4806.446,-12222.643,42,1.2,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.7
$GPS2,121041,4806.457,-12222.654,13,2.2,32,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,-0.175
$KALMAN_X,-2069.4,-357.3,-54.9,2848.4,-85.9
$KALMAN_Y,1741.4,246.4,-67.0,-3393.8,13.8
$MHEAD_RNG_PITCHd_Wd,112.7,1170,-16.9,-10.000
$D_GRID,105
$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,16,-1.73,-156.4,0.0,0.0,0,90,0.00,0.00,-70.70,0.000,2,0.000,0.000,410,2165,2021
$GC,92,-1.73,-156.4,3.3,-6.7,13,144,12.70,2.70,-33.80,0.000,4,0.194,0.076,2464,3590,3438
$GC,333,-1.73,-156.4,36.9,-14.1,45,341,0.00,2.47,0.00,0.000,6,0.000,0.040,2465,2201,3438
$GC,531,-1.73,-156.4,63.5,-13.5,64,535,0.00,2.58,0.00,0.000,4,0.000,0.064,2465,3589,3438
$GC,593,-1.73,-156.4,71.9,-13.7,69,597,0.00,2.42,0.00,0.000,6,0.000,0.041,2465,2210,3438
$STATE,851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,851,begin apogee
$GC,855,-0.45,0.0,106.2,13.1,93,984,1.48,0.00,120.95,0.847,6,0.113,0.000,2746,2141,2800
$STATE,985,end apogee,CONTROL_FINISHED_OK
$STATE,985,begin climb
$GC,986,1.73,156.4,110.9,0.0,106,1116,2.22,2.58,120.25,0.809,4,0.064,0.061,3226,753,2162
$GC,1204,1.73,156.4,91.7,13.0,126,1212,0.00,2.42,0.00,0.000,6,0.000,0.040,3226,2137,2163
$GC,1530,1.73,156.4,54.6,11.5,157,1534,0.00,2.55,0.00,0.000,4,0.000,0.061,3226,3549,2162
$GC,1614,1.73,156.4,44.6,12.1,164,1618,0.00,2.42,0.00,0.000,6,0.000,0.038,3226,2166,2162
$GC,1812,1.73,156.4,23.4,10.3,182,1816,0.00,2.55,0.00,0.000,4,0.000,0.061,3226,3554,2162
$GC,1867,1.73,156.4,17.4,10.5,188,1873,0.00,2.38,0.00,0.000,6,0.000,0.036,3226,2189,2162
$GC,1941,1.79,212.6,11.1,7.6,201,1991,0.00,2.62,44.20,0.781,4,0.000,0.060,3226,743,1932
$GC,2020,1.96,349.7,6.5,4.1,215,2135,0.22,2.53,104.93,0.749,6,0.045,0.040,3283,2201,1372
$STATE,2190,end climb,SURFACE_DEPTH_REACHED
$STATE,2190,begin surface coast
$FINISH,1.5,1.017754
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2340,183.38,0.739,0,0,205,636.31
$SM_GC,0.93,0.00,0.00,183.38,0.000,0.000,0.739,410,2201,205,-11.22,0.03,636.31
$IRIDIUM_FIX,4748.51,-12221.84,080597,111149
$TT8_MAMPS,0.024544
$HUMID,1558
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,21.0
$24V_AH,23.7,8.023
$10V_AH,10.1,1.780
$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,30.075,30.325,390.325,183.375,0.000,30.152,15.433,90.192,1.750,0.000,0.000,33.460,406.877,961.923,582.458,637.694,179.372,33.322,948.289,0.000,607.760,0.000,14.344
$DEVICE_MAMPS,194.051,75.933,846.768,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.447,464.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12781,269
$CAP_FILE_SIZE,34638,0
$CFSIZE,260165632,257941504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120208,125427,4806.316,-12222.509,12,1.4,12,18.3