version: 66.03
glider: 121
mission: 2
dive: 19
start: 2 12 108 13 2 32
data:
$ID,121
$MISSION,2
$DIVE,19
$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,-61408.191
$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,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
$GPS1,125427,4806.316,-12222.509,12,1.4,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.7
$GPS2,130133,4806.350,-12222.542,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.268
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,-0.173
$KALMAN_X,-2319.5,-359.1,-58.1,3242.5,-101.0
$KALMAN_Y,1911.0,217.7,-61.8,-3738.4,46.1
$MHEAD_RNG_PITCHd_Wd,112.0,932,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.73,-156.4,0.0,0.0,0,91,0.00,0.00,-70.50,0.000,2,0.000,0.000,410,2203,1991
$GC,93,-1.73,-156.4,3.3,-7.8,13,149,12.65,2.62,-35.22,0.000,4,0.193,0.079,2466,3599,3438
$GC,378,-1.73,-156.4,42.2,-14.1,50,386,0.00,2.50,0.00,0.000,6,0.000,0.041,2466,2202,3438
$GC,576,-1.73,-156.4,68.6,-13.1,69,580,0.00,2.58,0.00,0.000,4,0.000,0.064,2466,3599,3438
$GC,648,-1.73,-156.4,78.2,-13.3,75,652,0.00,2.45,0.00,0.000,6,0.000,0.041,2466,2209,3438
$STATE,853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,853,begin apogee
$GC,857,-0.45,0.0,105.1,12.8,94,987,1.48,0.00,120.90,0.849,6,0.116,0.000,2746,2140,2800
$STATE,987,end apogee,CONTROL_FINISHED_OK
$STATE,987,begin climb
$GC,989,1.73,156.4,109.5,0.0,107,1118,2.22,2.55,120.45,0.809,4,0.065,0.061,3225,761,2162
$GC,1214,1.73,156.4,89.5,12.8,128,1218,0.00,2.40,0.00,0.000,6,0.000,0.040,3225,2151,2162
$GC,1538,1.73,156.4,52.0,11.3,158,1542,0.00,2.55,0.00,0.000,4,0.000,0.062,3225,3559,2162
$GC,1632,1.73,156.4,40.6,11.9,166,1637,0.00,2.42,0.00,0.000,6,0.000,0.037,3225,2172,2162
$GC,1829,1.73,156.4,19.2,10.2,184,1835,0.00,2.53,0.00,0.000,4,0.000,0.059,3225,3552,2162
$GC,1882,1.73,162.6,14.1,9.7,193,1894,0.00,2.38,6.65,0.673,6,0.000,0.037,3225,2186,2136
$GC,1962,1.83,245.5,8.1,6.4,207,2034,0.10,2.55,64.03,0.772,4,0.071,0.059,3251,3549,1799
$STATE,2224,end climb,NO_VERTICAL_VELOCITY
$STATE,2224,begin surface
$SM_CCo,2226,262.48,0.728,2,0,206,636.31
$SM_GC,0.88,12.93,0.00,0.00,0.041,0.000,0.000,408,2198,201,-11.19,-0.03,637.29
$IRIDIUM_FIX,4748.51,-12221.84,080597,131302
$TT8_MAMPS,0.024544
$HUMID,1577
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,101.0,20.4
$24V_AH,23.7,8.160
$10V_AH,10.1,1.817
$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,29.375,30.075,312.025,262.475,0.000,71.693,82.152,86.326,2.500,0.000,0.000,14.497,404.377,1161.417,618.553,592.733,284.713,33.331,955.591,0.000,583.540,0.000,14.358
$DEVICE_MAMPS,192.517,79.001,849.069,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.699,438.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9667,254
$CAP_FILE_SIZE,34994,0
$CFSIZE,260165632,257916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120208,134645,4806.230,-12222.433,12,2.0,12,18.3