version: 66.03
glider: 139
mission: 2
dive: 12
start: 4 10 108 14 12 17
data:
$ID,139
$MISSION,2
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,420
$D_ABORT,600
$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,140
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-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,330
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1251462
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.036633
$PRESSURE_SLOPE,0.000116328
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,140456,2110.176,-15754.560,38,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.9
$GPS2,141126,2110.198,-15754.593,50,2.0,50,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.094,-0.217
$KALMAN_X,-562.7,-213.5,513.8,-3417.9,-889.9
$KALMAN_Y,1897.0,129.3,-225.8,-10994.5,581.6
$MHEAD_RNG_PITCHd_Wd,146.7,1242,-20.4,-10.000
$D_GRID,420
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.42,-115.7,0.0,0.0,0,73,0.00,0.00,-54.92,0.000,2,0.000,0.000,430,2307,2841
$GC,75,-1.45,-138.6,3.1,-8.7,10,105,11.55,2.42,-8.12,0.000,4,0.166,0.084,2444,3698,3231
$GC,138,-1.45,-138.6,15.6,-16.9,21,145,0.00,2.33,0.00,0.000,6,0.000,0.023,2444,2271,3232
$GC,473,-1.45,-138.6,67.6,-15.2,60,477,0.00,2.42,0.00,0.000,4,0.000,0.038,2444,3703,3233
$GC,568,-1.45,-138.6,82.4,-16.4,68,572,0.00,2.30,0.00,0.000,6,0.000,0.022,2444,2292,3234
$GC,892,-1.45,-138.6,134.3,-14.8,98,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2290,3235
$GC,1209,-1.45,-138.6,174.4,-11.6,128,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2290,3236
$GC,1537,-1.45,-138.6,208.9,-10.7,155,1541,0.00,2.33,0.00,0.000,4,0.000,0.037,2444,901,3236
$GC,1576,-1.45,-138.6,213.3,-11.6,157,1580,0.00,2.28,0.00,0.000,6,0.000,0.037,2444,2300,3236
$GC,1903,-1.45,-138.6,251.8,-11.6,173,1907,0.00,2.35,0.00,0.000,4,0.000,0.038,2444,903,3237
$GC,1973,-1.45,-138.6,259.5,-10.7,176,1979,0.00,2.33,0.00,0.000,6,0.000,0.027,2444,2296,3237
$GC,2295,-1.47,-155.8,289.1,-9.0,192,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2297,3236
$GC,2621,-1.48,-164.6,318.9,-9.5,203,2626,0.00,2.42,0.00,0.000,4,0.000,0.048,2443,3705,3235
$GC,2715,-1.50,-182.5,328.1,-9.0,205,2720,0.00,2.33,0.00,0.000,6,0.000,0.028,2444,2312,3235
$GC,3035,-1.52,-194.6,355.5,-8.2,213,3040,0.00,2.40,0.00,0.000,4,0.000,0.074,2444,898,3233
$GC,3056,-1.52,-194.6,357.7,-9.2,213,3061,0.00,2.35,0.00,0.000,6,0.000,0.031,2444,2292,3233
$GC,3399,-1.52,-194.6,390.2,-9.8,222,3403,0.00,2.45,0.00,0.000,4,0.000,0.051,2444,3708,3231
$GC,3470,-1.52,-194.6,397.8,-10.7,223,3475,0.00,2.38,0.00,0.000,6,0.000,0.064,2444,2300,3230
$STATE,3725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3725,begin apogee
$GC,3728,-0.31,0.0,422.2,9.5,230,3847,1.23,0.00,113.00,0.835,6,0.084,0.000,2700,2300,2664
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3849,1.52,194.6,426.0,0.0,233,4021,1.77,2.58,160.25,0.812,4,0.044,0.081,3098,3705,1870
$GC,4041,1.52,194.6,414.9,14.2,237,4046,0.00,2.40,0.00,0.000,6,0.000,0.031,3098,2309,1868
$GC,4378,1.52,194.6,366.8,13.9,246,4382,0.00,2.45,0.00,0.000,4,0.000,0.086,3099,3698,1859
$GC,4422,1.52,194.6,360.8,13.3,247,4426,0.00,2.38,0.00,0.000,6,0.000,0.067,3098,2295,1859
$GC,4751,1.52,194.6,318.4,12.8,255,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2293,1856
$GC,5058,1.52,194.9,282.6,10.0,266,5062,0.00,2.47,0.00,0.000,4,0.000,0.051,3099,3702,1855
$GC,5197,1.52,198.3,267.8,9.8,272,5202,0.00,2.40,0.00,0.000,6,0.000,0.035,3099,2294,1855
$GC,5518,1.52,198.3,233.3,11.9,288,5522,0.00,2.40,0.00,0.000,4,0.000,0.044,3098,894,1853
$GC,5702,1.52,198.3,211.4,10.6,296,5707,0.00,2.38,0.00,0.000,6,0.000,0.065,3098,2296,1849
$GC,6024,1.52,198.3,175.6,12.0,321,6028,0.00,2.42,0.00,0.000,4,0.000,0.047,3098,3707,1849
$GC,6074,1.52,198.3,169.4,12.3,325,6079,0.00,2.35,0.00,0.000,6,0.000,0.064,3098,2296,1850
$GC,6399,1.57,237.9,143.5,7.7,355,6442,0.00,2.45,34.30,0.649,4,0.000,0.073,3098,899,1692
$GC,6479,1.57,237.9,135.2,11.3,362,6487,0.00,2.38,0.00,0.000,6,0.000,0.027,3099,2306,1689
$GC,6805,1.57,237.9,95.9,12.6,393,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2308,1688
$GC,7123,1.57,237.9,57.4,12.7,423,7127,0.00,2.38,0.00,0.000,4,0.000,0.037,3098,896,1688
$GC,7154,1.57,237.9,53.0,13.6,425,7162,0.00,2.33,0.00,0.000,6,0.000,0.058,3099,2296,1686
$GC,7486,1.57,237.9,14.0,10.1,468,7493,0.00,2.38,0.00,0.000,4,0.000,0.074,3098,3705,1687
$STATE,7576,end climb,SURFACE_DEPTH_REACHED
$STATE,7576,begin surface coast
$FINISH,0.1,1.023601
$STATE,7599,end surface coast,CONTROL_FINISHED_OK
$STATE,7599,begin surface
$SM_CCo,7619,56.58,0.491,2,0,1318,330.17
$SM_GC,0.89,0.00,0.00,56.58,0.000,0.000,0.491,428,2289,1318,-10.77,-0.31,330.17
$IRIDIUM_FIX,2104.07,-15755.17,050797,111112
$TT8_MAMPS,0.029146
$HUMID,1797
$INTERNAL_PRESSURE,8.5512
$TCM_TEMP,21.90
$XPDR_PINGS,434
$24V_AH,23.7,5.254
$10V_AH,10.2,2.685
$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,26.075,71.550,307.550,56.575,0.000,25.786,27.867,219.874,116.750,0.000,0.000,51.600,892.789,5218.995,442.668,1188.152,343.531,33.331,1008.570,0.000,1121.574,0.000,52.719
$DEVICE_MAMPS,165.672,85.904,835.263,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.574,323.425,567.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25487,488
$CAP_FILE_SIZE,72095,8
$CFSIZE,260165632,257380352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100408,162131,2109.344,-15754.935,33,1.4,33,9.8