version: 66.03
glider: 139
mission: 2
dive: 14
start: 4 10 108 19 7 42
data:
$ID,139
$MISSION,2
$DIVE,14
$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,-1251491.4
$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,40
$R_STBD_OVSHOOT,41
$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
$GPS1,185137,2108.648,-15755.057,30,1.5,35,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.8
$GPS2,190651,2108.766,-15755.072,11,1.7,11,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.247,-0.170
$KALMAN_X,-2527.3,-453.4,-923.3,-596.2,-307.5
$KALMAN_Y,2403.3,-260.4,262.3,-14250.9,-79.2
$MHEAD_RNG_PITCHd_Wd,114.8,18452,-15.6,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.21,-194.6,0.0,0.0,0,74,0.00,0.00,-55.05,0.000,2,0.000,0.000,428,2289,2855
$GC,76,-1.21,-194.6,3.1,-8.3,10,106,11.98,2.40,-12.52,0.000,4,0.166,0.049,2498,902,3460
$GC,162,-1.21,-194.6,18.8,-16.8,25,168,0.00,2.28,0.00,0.000,6,0.000,0.022,2498,2309,3462
$GC,491,-1.21,-194.6,63.7,-13.2,63,495,0.00,2.33,0.00,0.000,4,0.000,0.037,2498,3696,3461
$GC,563,-1.21,-194.6,72.5,-12.8,69,567,0.00,2.28,0.00,0.000,6,0.000,0.022,2499,2295,3461
$GC,887,-1.21,-194.6,112.8,-12.9,99,891,0.00,2.33,0.00,0.000,4,0.000,0.036,2498,902,3462
$GC,936,-1.21,-194.6,118.9,-11.5,103,941,0.00,2.28,0.00,0.000,6,0.000,0.028,2498,2304,3462
$GC,1260,-1.21,-194.6,158.1,-12.2,133,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2304,3463
$GC,1580,-1.21,-194.6,195.8,-11.1,163,1584,0.00,2.35,0.00,0.000,4,0.000,0.070,2498,901,3463
$GC,1622,-1.21,-194.6,201.5,-12.7,166,1627,0.00,2.30,0.00,0.000,6,0.000,0.029,2498,2297,3464
$GC,1950,-1.21,-194.6,237.9,-9.4,182,1954,0.00,2.35,0.00,0.000,4,0.000,0.037,2498,897,3464
$GC,2058,-1.21,-194.6,247.1,-8.5,187,2061,0.00,1.85,0.00,0.000,6,0.000,0.045,2498,2066,3464
$GC,2389,-1.21,-194.6,277.9,-11.0,203,2393,0.00,2.78,0.00,0.000,4,0.000,0.042,2498,3701,3463
$GC,2454,-1.21,-194.6,285.4,-11.4,206,2459,0.00,2.33,0.00,0.000,6,0.000,0.058,2498,2302,3463
$GC,2799,-1.21,-194.6,320.6,-9.8,218,2803,0.00,2.38,0.00,0.000,4,0.000,0.044,2498,3694,3462
$GC,2825,-1.21,-194.6,323.0,-9.0,218,2829,0.00,2.30,0.00,0.000,6,0.000,0.025,2498,2304,3462
$GC,3163,-1.21,-194.6,347.5,-7.4,227,3167,0.00,2.38,0.00,0.000,4,0.000,0.041,2498,895,3460
$GC,3301,-1.21,-194.6,360.4,-10.1,230,3306,0.00,2.35,0.00,0.000,6,0.000,0.030,2498,2315,3460
$GC,3619,-1.21,-194.6,394.7,-11.3,238,3623,0.00,2.40,0.00,0.000,4,0.000,0.041,2498,901,3458
$GC,3703,-1.21,-194.6,404.2,-10.3,240,3707,0.00,2.35,0.00,0.000,6,0.000,0.051,2498,2291,3458
$STATE,3869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3869,begin apogee
$GC,3872,-0.31,0.0,422.0,11.0,244,4033,0.95,0.00,157.55,0.822,6,0.072,0.000,2702,2292,2664
$STATE,4034,end apogee,CONTROL_FINISHED_OK
$STATE,4034,begin climb
$GC,4035,1.21,194.6,430.6,0.0,248,4205,1.45,2.45,160.00,0.799,4,0.042,0.076,3034,901,1867
$GC,4310,1.21,194.6,412.6,10.5,254,4315,0.00,2.40,0.00,0.000,6,0.000,0.032,3034,2294,1859
$GC,4653,1.25,228.3,380.4,8.8,263,4687,0.00,2.45,28.25,0.776,4,0.000,0.077,3034,912,1731
$GC,4755,1.25,228.7,370.8,10.0,265,4759,0.00,2.38,0.00,0.000,6,0.000,0.032,3034,2294,1725
$GC,5068,1.29,260.1,342.3,8.9,273,5102,0.00,2.50,27.83,0.772,4,0.000,0.055,3034,901,1602
$GC,5169,1.29,260.1,330.3,12.2,275,5173,0.00,2.40,0.00,0.000,6,0.000,0.032,3034,2302,1597
$GC,5482,1.29,260.1,292.7,12.2,284,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2303,1595
$GC,5792,1.35,305.4,259.1,8.4,299,5837,0.12,2.47,39.25,0.736,4,0.064,0.074,3067,901,1418
$GC,5903,1.35,305.4,247.6,10.7,304,5908,0.00,2.38,0.00,0.000,6,0.000,0.029,3067,2297,1413
$GC,6230,1.35,305.4,211.0,11.5,320,6234,0.00,2.40,0.00,0.000,4,0.000,0.041,3067,900,1411
$GC,6352,1.35,305.4,195.6,12.0,326,6360,0.00,2.35,0.00,0.000,6,0.000,0.061,3067,2296,1408
$GC,6677,1.35,305.4,158.8,12.5,357,6682,0.00,2.40,0.00,0.000,4,0.000,0.039,3067,894,1408
$GC,6727,1.35,305.4,152.6,12.4,361,6731,0.00,2.33,0.00,0.000,6,0.000,0.060,3067,2306,1406
$GC,7057,1.35,305.4,103.2,13.5,392,7061,0.00,2.40,0.00,0.000,4,0.000,0.038,3067,896,1406
$GC,7088,1.35,305.4,99.0,13.0,394,7096,0.00,2.35,0.00,0.000,6,0.000,0.031,3067,2304,1406
$GC,7413,1.35,305.4,59.5,13.8,425,7417,0.00,2.38,0.00,0.000,4,0.000,0.037,3067,900,1406
$GC,7497,1.35,305.4,47.4,14.7,432,7503,0.00,2.28,0.00,0.000,6,0.000,0.024,3067,2303,1406
$GC,7832,1.35,305.4,5.8,12.0,481,7838,0.00,2.35,0.00,0.000,4,0.000,0.036,3067,899,1407
$STATE,7853,end climb,SURFACE_DEPTH_REACHED
$STATE,7854,begin surface coast
$FINISH,0.4,1.023556
$STATE,7877,end surface coast,CONTROL_FINISHED_OK
$STATE,7877,begin surface
$SM_CCo,7897,21.50,0.438,2,0,1318,330.17
$SM_GC,1.15,0.00,0.00,21.50,0.000,0.000,0.438,430,2311,1318,-10.76,0.31,330.17
$IRIDIUM_FIX,2101.76,-15753.03,050797,191928
$TT8_MAMPS,0.029146
$HUMID,1792
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,22.30
$XPDR_PINGS,472
$24V_AH,23.6,5.528
$10V_AH,10.2,2.811
$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,25.950,84.950,412.875,21.500,0.000,117.367,171.664,356.498,126.250,0.000,0.000,12.910,926.999,5450.898,507.820,1233.472,734.243,33.330,1124.470,0.000,1204.248,0.000,52.733
$DEVICE_MAMPS,166.439,77.467,822.224,437.957,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.773,320.803,565.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25407,489
$CAP_FILE_SIZE,83256,6
$CFSIZE,260165632,257282048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,100408,212101,2107.670,-15754.492,36,1.8,36,9.8