version: 66.03
glider: 139
mission: 2
dive: 20
start: 4 11 108 10 16 25
data:
$ID,139
$MISSION,2
$DIVE,20
$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,-1251583.1
$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,71
$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
$GPS1,100737,2104.075,-15751.251,28,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-59.6
$GPS2,101533,2104.017,-15751.236,11,1.0,11,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.293,-0.060
$KALMAN_X,-11480.2,37.8,-318.7,13875.4,-149.3
$KALMAN_Y,-191.7,-63.2,7.9,-20392.3,-525.1
$MHEAD_RNG_PITCHd_Wd,91.8,8066,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.21,-194.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,429,2298,2940
$GC,80,-1.21,-194.6,3.6,-9.7,11,110,11.82,2.42,-9.88,0.000,4,0.161,0.048,2498,868,3461
$GC,155,-1.21,-194.6,19.2,-13.7,24,161,0.00,2.25,0.00,0.000,6,0.000,0.021,2498,2258,3462
$GC,483,-1.21,-194.6,68.9,-16.0,61,487,0.00,2.35,0.00,0.000,4,0.000,0.037,2498,868,3462
$GC,537,-1.21,-194.6,76.4,-12.5,65,545,0.00,2.33,0.00,0.000,6,0.000,0.021,2498,2283,3462
$GC,863,-1.21,-194.6,114.8,-11.5,96,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2285,3463
$GC,1182,-1.21,-194.6,149.1,-11.6,126,1186,0.00,2.38,0.00,0.000,4,0.000,0.035,2498,872,3464
$GC,1288,-1.21,-194.6,159.0,-9.8,135,1292,0.00,2.28,0.00,0.000,6,0.000,0.023,2497,2277,3464
$GC,1616,-1.21,-194.6,197.2,-12.7,166,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2278,3465
$GC,1938,-1.21,-194.6,225.5,-8.1,183,1942,0.00,2.38,0.00,0.000,4,0.000,0.036,2497,866,3465
$GC,1993,-1.21,-194.6,230.4,-9.1,185,1999,0.00,2.33,0.00,0.000,6,0.000,0.025,2498,2289,3465
$GC,2307,-1.21,-194.6,258.9,-8.3,201,2311,0.00,2.38,0.00,0.000,4,0.000,0.037,2498,875,3465
$GC,2333,-1.21,-194.6,261.2,-8.8,202,2338,0.00,2.33,0.00,0.000,6,0.000,0.025,2498,2278,3465
$GC,2655,-1.21,-194.6,287.0,-7.8,218,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2278,3464
$GC,2964,-1.21,-194.6,311.7,-8.7,230,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2278,3463
$GC,3287,-1.21,-194.6,335.8,-6.9,238,3291,0.00,2.40,0.00,0.000,4,0.000,0.040,2498,869,3461
$GC,3352,-1.21,-194.6,341.4,-9.0,239,3357,0.00,2.35,0.00,0.000,6,0.000,0.028,2498,2267,3461
$GC,3697,-1.21,-194.6,372.9,-9.3,248,3701,0.00,2.38,0.00,0.000,4,0.000,0.041,2498,874,3458
$GC,3757,-1.21,-194.6,378.7,-9.0,249,3761,0.00,2.38,0.00,0.000,6,0.000,0.057,2498,2280,3458
$GC,4106,-1.21,-194.6,406.2,-7.4,258,4110,0.00,2.40,0.00,0.000,4,0.000,0.061,2498,876,3456
$GC,4182,-1.21,-194.6,411.9,-7.5,259,4189,0.00,2.38,0.00,0.000,6,0.000,0.066,2498,2281,3456
$GC,4514,-1.21,-194.6,435.2,-7.3,268,4518,0.00,2.40,0.00,0.000,4,0.000,0.042,2498,877,3454
$GC,4562,-1.21,-194.6,439.3,-8.5,269,4567,0.00,2.38,0.00,0.000,6,0.000,0.031,2498,2282,3454
$STATE,4717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4721,-0.31,0.0,453.4,9.1,273,4883,0.95,0.00,157.88,0.864,6,0.073,0.000,2701,2188,2664
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4885,1.21,194.6,462.6,0.0,277,5050,1.52,0.00,161.07,0.841,6,0.094,0.000,3040,2187,1870
$GC,5363,1.21,194.6,425.7,10.4,289,5367,0.00,2.40,0.00,0.000,4,0.000,0.047,3040,812,1859
$GC,5429,1.21,194.6,418.3,10.9,290,5434,0.00,2.38,0.00,0.000,6,0.000,0.041,3040,2198,1857
$GC,5777,1.21,194.6,382.8,10.7,299,5782,0.00,2.38,0.00,0.000,4,0.000,0.079,3040,813,1856
$GC,5826,1.21,194.6,376.4,12.6,300,5831,0.00,2.38,0.00,0.000,6,0.000,0.038,3040,2199,1854
$GC,6145,1.21,194.6,341.3,10.6,308,6148,0.00,2.42,0.00,0.000,4,0.000,0.074,3040,803,1854
$GC,6210,1.21,194.6,333.7,12.0,309,6216,0.00,2.38,0.00,0.000,6,0.000,0.031,3040,2199,1853
$GC,6540,1.21,194.6,296.2,11.3,318,6544,0.00,2.42,0.00,0.000,4,0.000,0.048,3040,3598,1853
$GC,6668,1.21,194.6,280.7,11.4,324,6672,0.00,2.33,0.00,0.000,6,0.000,0.029,3040,2206,1853
$GC,6999,1.21,194.6,245.7,11.4,340,7003,0.00,2.42,0.00,0.000,4,0.000,0.044,3040,796,1852
$GC,7042,1.21,194.6,240.7,11.2,342,7047,0.00,2.38,0.00,0.000,6,0.000,0.029,3040,2203,1849
$GC,7369,1.22,199.0,207.9,9.9,358,7373,0.00,2.40,0.00,0.000,4,0.000,0.045,3040,3606,1850
$GC,7429,1.22,199.0,201.2,11.9,360,7437,0.00,2.35,0.00,0.000,6,0.000,0.027,3040,2206,1850
$GC,7754,1.29,254.4,172.1,8.1,390,7809,0.00,2.47,49.03,0.686,4,0.000,0.048,3040,800,1625
$GC,7917,1.29,254.4,154.7,11.8,405,7921,0.00,2.33,0.00,0.000,6,0.000,0.028,3040,2207,1617
$GC,8247,1.30,265.3,121.7,9.6,436,8262,0.00,2.45,9.52,0.578,4,0.000,0.040,3040,797,1582
$GC,8302,1.30,265.3,116.1,11.0,441,8306,0.00,2.33,0.00,0.000,6,0.000,0.061,3040,2203,1578
$GC,8626,1.31,273.3,83.8,9.7,471,8639,0.00,2.47,7.90,0.526,4,0.000,0.069,3040,797,1550
$GC,8677,1.31,273.3,78.7,10.0,475,8684,0.00,2.35,0.00,0.000,6,0.000,0.058,3040,2204,1546
$GC,9002,1.33,287.1,49.4,9.5,506,9025,0.00,2.45,13.50,0.533,4,0.000,0.037,3040,800,1491
$GC,9081,1.33,287.1,41.8,10.6,513,9085,0.00,2.30,0.00,0.000,6,0.000,0.058,3040,2207,1488
$GC,9416,1.33,287.1,9.1,11.8,562,9422,0.00,2.38,0.00,0.000,4,0.000,0.040,3040,797,1488
$GC,9467,1.34,294.8,3.7,9.7,571,9480,0.00,2.28,7.70,0.456,6,0.000,0.022,3040,2208,1462
$STATE,9484,end climb,SURFACE_DEPTH_REACHED
$STATE,9484,begin surface coast
$FINISH,0.2,1.010441
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9531,13.48,0.443,1,0,1400,310.06
$SM_GC,0.74,0.00,0.00,13.48,0.000,0.000,0.443,422,2307,1400,-10.80,0.76,310.06
$IRIDIUM_FIX,2059.45,-15753.90,060797,070701
$TT8_MAMPS,0.029146
$HUMID,1788
$INTERNAL_PRESSURE,8.56096
$TCM_TEMP,22.40
$XPDR_PINGS,516
$24V_AH,23.6,6.315
$10V_AH,10.2,3.184
$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,25.575,95.075,406.600,13.475,0.000,25.126,33.775,335.551,138.000,0.000,0.000,12.922,1052.778,6634.678,528.730,1330.605,490.802,33.334,1179.688,0.000,1307.569,0.000,57.772
$DEVICE_MAMPS,161.070,79.001,864.409,443.326,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.042,377.889,659.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,579
$CAP_FILE_SIZE,89343,8
$CFSIZE,260165632,257015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,110408,125637,2103.309,-15750.159,27,1.5,27,9.8