version: 66.03
glider: 139
mission: 2
dive: 16
start: 4 10 108 23 52 55
data:
$ID,139
$MISSION,2
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,330
$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,310
$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,-1251522.4
$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,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,42
$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
$GPS1,234537,2106.594,-15753.726,29,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.8
$GPS2,235203,2106.518,-15753.717,11,1.5,11,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.267,-0.135
$KALMAN_X,-5529.8,-519.7,239.3,3645.5,-721.7
$KALMAN_Y,1840.2,-391.4,-407.5,-17046.9,88.1
$MHEAD_RNG_PITCHd_Wd,107.0,14066,-15.6,-10.000
$D_GRID,450
$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,16,-1.21,-194.6,0.0,0.0,0,73,0.00,0.00,-54.53,0.000,2,0.000,0.000,430,2306,2828
$GC,75,-1.21,-194.6,3.1,-8.6,10,110,11.98,2.45,-13.12,0.000,4,0.167,0.048,2496,879,3461
$GC,172,-1.21,-194.6,19.4,-14.4,27,178,0.00,2.28,0.00,0.000,6,0.000,0.022,2496,2288,3462
$GC,505,-1.21,-194.6,71.0,-14.6,64,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2291,3463
$GC,825,-1.21,-194.6,118.1,-12.4,94,829,0.00,2.38,0.00,0.000,4,0.000,0.071,2495,875,3463
$GC,852,-1.21,-194.6,121.7,-12.9,96,856,0.00,2.30,0.00,0.000,6,0.000,0.058,2496,2291,3463
$GC,1175,-1.21,-194.6,156.6,-10.7,126,1179,0.00,2.33,0.00,0.000,4,0.000,0.038,2496,3673,3464
$GC,1203,-1.21,-194.6,159.5,-11.0,128,1210,0.03,2.28,0.00,0.000,6,0.171,0.022,2503,2265,3464
$GC,1527,-1.21,-194.6,194.4,-12.1,159,1531,0.00,2.33,0.00,0.000,4,0.000,0.035,2503,875,3465
$GC,1597,-1.21,-194.6,203.4,-12.8,164,1602,0.00,2.30,0.00,0.000,6,0.000,0.058,2503,2277,3465
$GC,1919,-1.21,-194.6,240.2,-11.4,180,1923,0.00,2.35,0.00,0.000,4,0.000,0.036,2503,878,3466
$GC,2041,-1.21,-194.6,253.2,-9.5,185,2048,0.00,2.30,0.00,0.000,6,0.000,0.024,2503,2269,3466
$GC,2358,-1.21,-194.6,280.3,-8.1,201,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2270,3465
$GC,2665,-1.21,-194.6,304.8,-7.9,215,2669,0.00,2.33,0.00,0.000,4,0.000,0.038,2503,883,3465
$GC,2721,-1.21,-194.6,309.2,-7.8,216,2726,0.00,2.30,0.00,0.000,6,0.000,0.027,2503,2283,3464
$GC,3033,-1.21,-194.6,328.6,-6.8,224,3037,0.00,2.38,0.00,0.000,4,0.000,0.040,2503,883,3464
$GC,3059,-1.21,-194.6,331.5,-10.9,224,3064,0.00,2.33,0.00,0.000,6,0.000,0.028,2503,2274,3463
$GC,3397,-1.21,-194.6,370.6,-12.2,233,3401,0.00,2.38,0.00,0.000,4,0.000,0.041,2503,879,3461
$GC,3541,-1.21,-194.6,386.5,-10.0,236,3545,0.00,2.35,0.00,0.000,6,0.000,0.061,2503,2271,3460
$GC,3855,-1.21,-194.6,415.0,-8.8,244,3859,0.00,2.38,0.00,0.000,4,0.000,0.075,2503,883,3460
$GC,3895,-1.21,-194.6,418.5,-8.8,245,3900,0.00,2.33,0.00,0.000,6,0.000,0.031,2503,2278,3459
$GC,4218,-1.21,-194.6,447.2,-9.9,253,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2278,3457
$STATE,4299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4299,begin apogee
$GC,4303,-0.31,0.0,452.0,8.4,255,4465,0.93,0.00,158.93,0.854,6,0.074,0.000,2701,2200,2664
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4466,begin climb
$GC,4467,1.21,194.6,457.1,0.0,259,4637,1.48,2.58,160.68,0.828,4,0.044,0.052,3037,3602,1870
$GC,4671,1.21,194.6,440.9,14.4,264,4675,0.00,2.38,0.00,0.000,6,0.000,0.032,3036,2210,1868
$GC,5000,1.21,194.6,402.0,11.5,272,5004,0.00,2.45,0.00,0.000,4,0.000,0.050,3036,3601,1860
$GC,5087,1.21,194.6,391.2,12.3,274,5092,0.00,2.40,0.00,0.000,6,0.000,0.031,3037,2202,1860
$GC,5412,1.21,194.6,353.9,11.2,282,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2200,1857
$GC,5737,1.27,240.9,323.5,8.4,290,5781,0.00,2.53,38.95,0.788,4,0.000,0.083,3036,794,1680
$GC,5866,1.27,240.9,308.9,12.1,293,5870,0.00,2.38,0.00,0.000,6,0.000,0.031,3036,2202,1674
$GC,6199,1.27,240.9,269.3,12.3,307,6203,0.00,2.45,0.00,0.000,4,0.000,0.044,3036,792,1672
$GC,6241,1.27,240.9,263.7,13.2,309,6246,0.00,2.40,0.00,0.000,6,0.000,0.055,3036,2202,1670
$GC,6568,1.27,240.9,221.8,14.3,325,6572,0.00,2.42,0.00,0.000,4,0.000,0.044,3036,795,1670
$GC,6606,1.27,240.9,216.1,15.4,326,6614,0.00,2.38,0.00,0.000,6,0.000,0.029,3036,2203,1668
$GC,6927,1.27,240.9,180.5,11.3,351,6931,0.00,2.42,0.00,0.000,4,0.000,0.042,3036,794,1668
$GC,7077,1.27,240.9,161.8,11.1,364,7081,0.00,2.33,0.00,0.000,6,0.000,0.028,3036,2202,1666
$GC,7407,1.28,246.1,130.2,9.8,395,7412,0.00,2.38,0.00,0.000,4,0.000,0.041,3036,3597,1666
$GC,7491,1.28,246.1,121.4,10.6,402,7495,0.00,2.33,0.00,0.000,6,0.000,0.059,3037,2188,1667
$GC,7816,1.33,289.2,94.9,8.5,432,7862,0.10,2.42,40.33,0.601,4,0.063,0.079,3067,3600,1483
$GC,7871,1.33,289.2,88.9,11.3,437,7879,0.00,2.35,0.00,0.000,6,0.000,0.024,3067,2203,1483
$GC,8197,1.33,289.2,53.5,10.7,468,8201,0.00,2.35,0.00,0.000,4,0.000,0.037,3067,3598,1479
$GC,8219,1.33,289.2,51.0,11.6,470,8223,0.00,2.30,0.00,0.000,6,0.000,0.023,3067,2196,1479
$GC,8550,1.33,289.2,14.8,11.7,512,8556,0.00,2.35,0.00,0.000,4,0.000,0.038,3067,792,1478
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FINISH,2.1,1.023506
$STATE,8652,end surface coast,CONTROL_FINISHED_OK
$STATE,8652,begin surface
$SM_CCo,8672,18.35,0.450,2,0,1400,310.06
$SM_GC,1.21,0.00,0.00,18.35,0.000,0.000,0.450,431,2284,1400,-10.76,0.11,310.06
$IRIDIUM_FIX,2059.45,-15753.03,050797,212101
$TT8_MAMPS,0.029146
$HUMID,1833
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,22.10
$XPDR_PINGS,489
$24V_AH,23.6,5.787
$10V_AH,10.2,2.933
$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,26.000,90.175,398.875,18.350,0.000,24.201,31.077,248.019,131.250,0.000,0.000,13.272,993.401,5936.978,500.852,1278.261,388.905,33.358,1137.765,0.000,1246.100,0.000,57.831
$DEVICE_MAMPS,171.041,82.836,854.438,450.229,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.388,345.538,606.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28556,530
$CAP_FILE_SIZE,82221,6
$CFSIZE,260165632,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110408,021908,2105.690,-15753.131,38,1.1,38,9.8