version: 66.03
glider: 136
mission: 2
dive: 17
start: 4 1 108 10 29 33
data:
$ID,136
$MISSION,2
$DIVE,17
$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,-54434.867
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,102307,4807.046,-12223.048,26,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.4
$GPS2,102833,4807.054,-12223.047,15,1.3,15,18.3
$SPEED_LIMITS,0.225,0.282
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.162,0.231
$KALMAN_X,-387.3,-43.6,-127.6,249.7,27.0
$KALMAN_Y,694.3,37.4,98.0,-2933.2,-24.3
$MHEAD_RNG_PITCHd_Wd,306.7,2111,-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,-121.00,0.000,2,0.000,0.000,675,2060,3479
$GC,148,-1.75,-146.6,3.1,-2.0,22,179,10.62,2.62,-14.43,0.000,4,0.149,0.056,2574,3487,3902
$GC,417,-1.75,-146.6,35.3,-15.0,84,424,0.00,2.50,0.00,0.000,6,0.000,0.035,2574,2072,3901
$GC,487,-1.75,-146.6,45.8,-15.0,100,493,0.00,2.53,0.00,0.000,4,0.000,0.045,2573,3482,3901
$GC,743,-1.75,-146.6,84.6,-14.5,156,749,0.00,2.50,0.00,0.000,6,0.000,0.036,2573,2067,3901
$STATE,885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,886,begin apogee
$GC,892,-0.36,0.0,105.4,14.8,187,972,1.52,0.00,71.78,0.900,6,0.100,0.000,2875,2154,3521
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,975,1.75,146.6,109.1,0.0,202,1098,2.15,2.72,111.22,0.883,4,0.060,0.064,3335,745,2924
$GC,1137,1.75,149.6,99.2,12.8,233,1149,0.00,2.55,4.05,0.549,6,0.000,0.048,3335,2157,2912
$GC,1285,1.76,155.5,80.4,12.6,265,1298,0.00,2.53,6.32,0.678,4,0.000,0.045,3335,3562,2889
$GC,1384,1.76,155.5,67.0,14.6,286,1390,0.00,2.50,0.00,0.000,6,0.000,0.034,3335,2150,2888
$GC,1530,1.76,155.5,48.8,13.1,317,1536,0.00,2.53,0.00,0.000,4,0.000,0.045,3335,3557,2889
$GC,1596,1.76,155.5,39.5,13.1,332,1603,0.00,2.47,0.00,0.000,6,0.000,0.034,3335,2150,2889
$GC,1668,1.77,164.2,30.5,12.5,348,1680,0.00,0.00,8.45,0.717,6,0.000,0.000,3335,2150,2852
$GC,1743,1.77,164.2,21.1,13.1,365,1750,0.00,2.53,0.00,0.000,4,0.000,0.044,3336,3557,2852
$GC,1806,1.77,168.3,13.0,12.8,379,1818,0.00,2.47,5.07,0.608,6,0.000,0.031,3335,2149,2835
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,2.3,1.020038
$STATE,1925,end surface coast,CONTROL_FINISHED_OK
$STATE,1925,begin surface
$SM_CCo,1946,337.77,0.795,1,0,708,690.03
$SM_GC,1.05,0.00,0.00,337.77,0.000,0.000,0.795,672,2058,708,-10.52,-0.54,690.03
$IRIDIUM_FIX,4751.72,-12340.51,260697,090907
$TT8_MAMPS,0.03068
$HUMID,1441
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,189.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.5,43.2
$24V_AH,23.4,2.963
$10V_AH,10.1,0.967
$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,26.400,30.750,206.900,337.775,0.000,22.529,34.858,161.978,0.750,0.000,0.000,16.836,589.272,299.695,626.036,779.300,344.005,33.329,1023.656,0.000,778.321,0.000,5.468
$DEVICE_MAMPS,148.798,64.428,899.691,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.924,547.645,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19101,406
$CAP_FILE_SIZE,41554,0
$CFSIZE,260165632,258461696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010408,110833,4807.198,-12223.105,12,1.4,12,18.3