version: 66.03
glider: 136
mission: 2
dive: 16
start: 4 1 108 9 43 47
data:
$ID,136
$MISSION,2
$DIVE,16
$D_SURF,5.5999999
$D_FLARE,3
$D_TGT,195
$D_ABORT,1090
$D_NO_BLEED,80
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51077
$NAV_MODE,1
$FERRY_MAX,45
$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,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,690
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54417.402
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2077
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3900
$C_VBD,3522
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.6718953
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043748552
$SEABIRD_T_H,0.00063281442
$SEABIRD_T_I,2.1647942e-05
$SEABIRD_T_J,1.9060326e-06
$SEABIRD_C_G,-9.9140806
$SEABIRD_C_H,1.1150324
$SEABIRD_C_I,-0.00094694644
$SEABIRD_C_J,0.00016052932
$GPS1,093647,4806.874,-12222.839,8,3.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.7
$GPS2,094247,4806.883,-12222.836,13,7.2,32,18.3
$SPEED_LIMITS,0.225,0.282
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.230
$KALMAN_X,-390.1,-42.7,-129.3,514.2,5.7
$KALMAN_Y,726.6,63.5,85.5,-3296.8,-0.1
$MHEAD_RNG_PITCHd_Wd,306.3,2519,-21.9,-13.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.75,-146.6,0.0,0.0,0,145,0.00,0.00,-121.22,0.000,2,0.000,0.000,673,2063,3487
$GC,148,-1.75,-146.6,3.1,-1.8,22,179,10.55,2.55,-13.90,0.000,4,0.146,0.071,2573,677,3901
$GC,367,-1.75,-146.6,26.6,-13.0,72,374,0.00,2.50,0.00,0.000,6,0.000,0.046,2573,2074,3901
$GC,438,-1.75,-146.6,36.8,-15.2,88,445,0.00,2.53,0.00,0.000,4,0.000,0.046,2573,3487,3901
$GC,476,-1.75,-146.6,42.5,-16.0,96,483,0.00,2.47,0.00,0.000,6,0.000,0.035,2573,2077,3901
$GC,551,-1.75,-146.6,53.5,-14.4,112,557,0.00,2.53,0.00,0.000,4,0.000,0.045,2573,3487,3901
$GC,608,-1.75,-146.6,62.3,-15.6,124,615,0.00,2.50,0.00,0.000,6,0.000,0.035,2573,2070,3901
$GC,755,-1.75,-146.6,83.0,-13.9,155,761,0.00,2.55,0.00,0.000,4,0.000,0.045,2573,3496,3901
$GC,812,-1.75,-146.6,91.6,-14.5,167,818,0.00,2.50,0.00,0.000,6,0.000,0.035,2573,2074,3900
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,913,-0.36,0.0,105.6,13.8,188,993,1.52,0.00,71.55,0.897,6,0.099,0.000,2875,2163,3521
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,993,begin climb
$GC,996,1.75,146.6,108.9,0.0,203,1113,2.15,0.00,111.12,0.877,6,0.061,0.000,3339,2162,2924
$GC,1250,1.75,146.8,86.8,13.0,255,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2162,2924
$GC,1391,1.76,157.2,68.9,12.4,286,1409,0.00,2.58,9.75,0.745,4,0.000,0.047,3339,3556,2880
$GC,1476,1.76,157.2,57.3,14.1,304,1483,0.00,2.47,0.00,0.000,6,0.000,0.034,3339,2153,2880
$GC,1617,1.76,157.2,39.3,13.0,335,1624,0.00,2.53,0.00,0.000,4,0.000,0.045,3339,3559,2880
$GC,1692,1.76,157.2,29.1,13.6,352,1698,0.00,2.50,0.00,0.000,6,0.000,0.032,3339,2140,2881
$GC,1763,1.77,164.1,20.2,12.6,368,1775,0.00,2.55,6.90,0.676,4,0.000,0.044,3339,3560,2853
$GC,1819,1.77,164.1,12.8,13.6,380,1825,0.00,2.47,0.00,0.000,6,0.000,0.032,3339,2149,2853
$STATE,1875,end climb,SURFACE_DEPTH_REACHED
$STATE,1875,begin surface coast
$FINISH,2.6,1.020913
$STATE,1927,end surface coast,CONTROL_FINISHED_OK
$STATE,1927,begin surface
$SM_CCo,1949,342.15,0.792,1,0,709,690.03
$SM_GC,1.17,0.00,0.00,342.15,0.000,0.000,0.792,675,2059,709,-10.51,-0.51,690.03
$IRIDIUM_FIX,4751.72,-12340.51,260697,090920
$TT8_MAMPS,0.03068
$HUMID,1432
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,188.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,44.0
$24V_AH,23.4,2.825
$10V_AH,10.1,0.922
$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,26.350,35.525,199.325,342.150,0.000,23.015,33.711,175.190,0.500,0.000,0.000,36.845,592.269,298.290,632.578,796.798,357.770,33.327,1036.089,0.000,776.719,0.000,5.469
$DEVICE_MAMPS,145.730,71.331,897.390,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.113,543.900,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,405
$CAP_FILE_SIZE,43076,0
$CFSIZE,260165632,258490368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010408,102307,4807.046,-12223.048,26,1.3,26,18.3