version: 66.03
glider: 139
mission: 2
dive: 23
start: 4 11 108 18 21 40
data:
$ID,139
$MISSION,2
$DIVE,23
$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,-1251631.8
$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,36
$R_STBD_OVSHOOT,78
$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
$GPS1,181038,2102.339,-15749.264,35,1.0,35,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.0
$GPS2,182050,2102.308,-15749.370,10,1.1,15,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.291,0.070
$KALMAN_X,-16261.6,90.2,-319.3,21822.0,-1640.0
$KALMAN_Y,-2827.5,-38.9,-11.6,-20923.8,-635.5
$MHEAD_RNG_PITCHd_Wd,66.6,4191,-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,17,-1.21,-194.6,0.0,0.0,0,74,0.00,0.00,-55.17,0.000,2,0.000,0.000,424,2311,3001
$GC,76,-1.21,-194.6,3.7,-9.2,10,106,11.93,2.28,-8.50,0.000,4,0.163,0.084,2496,3638,3461
$GC,139,-1.21,-194.6,19.0,-14.9,21,146,0.00,2.25,0.00,0.000,6,0.000,0.022,2495,2283,3462
$GC,473,-1.21,-194.6,69.9,-15.6,59,477,0.00,2.35,0.00,0.000,4,0.000,0.036,2495,872,3462
$GC,507,-1.21,-194.6,75.3,-16.1,62,511,0.00,2.22,0.00,0.000,6,0.000,0.021,2496,2252,3462
$GC,830,-1.21,-194.6,119.4,-12.5,92,835,0.00,2.33,0.00,0.000,4,0.000,0.036,2495,876,3463
$GC,852,-1.21,-194.6,122.5,-14.6,94,856,0.00,2.28,0.00,0.000,6,0.000,0.021,2496,2282,3463
$GC,1175,-1.21,-194.6,165.9,-12.8,124,1179,0.00,2.38,0.00,0.000,4,0.000,0.035,2495,868,3464
$GC,1224,-1.21,-194.6,172.0,-11.8,128,1232,0.00,2.33,0.00,0.000,6,0.000,0.041,2495,2280,3464
$GC,1557,-1.21,-194.6,209.4,-11.2,156,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2281,3465
$GC,1867,-1.21,-194.6,237.6,-7.7,171,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2281,3465
$GC,2176,-1.21,-194.6,266.3,-10.4,186,2180,0.00,2.38,0.00,0.000,4,0.000,0.038,2495,879,3465
$GC,2215,-1.21,-194.6,270.3,-10.9,188,2219,0.00,2.28,0.00,0.000,6,0.000,0.025,2495,2278,3465
$GC,2565,-1.21,-194.6,305.7,-10.3,204,2569,0.00,2.38,0.00,0.000,4,0.000,0.038,2495,877,3464
$GC,2620,-1.21,-194.6,311.3,-10.2,205,2625,0.00,2.33,0.00,0.000,6,0.000,0.026,2496,2272,3464
$GC,2939,-1.21,-194.6,339.2,-8.7,213,2943,0.00,2.40,0.00,0.000,4,0.000,0.044,2495,3673,3463
$GC,2965,-1.21,-194.6,341.8,-9.7,213,2970,0.00,2.33,0.00,0.000,6,0.000,0.026,2495,2281,3463
$GC,3302,-1.21,-194.6,369.3,-8.0,222,3306,0.00,2.38,0.00,0.000,4,0.000,0.041,2495,877,3460
$GC,3350,-1.21,-194.6,373.6,-8.3,223,3355,0.00,2.35,0.00,0.000,6,0.000,0.028,2495,2275,3459
$GC,3669,-1.21,-194.6,398.3,-7.7,231,3673,0.00,2.38,0.00,0.000,4,0.000,0.041,2495,881,3458
$GC,3728,-1.21,-194.6,403.3,-8.4,232,3733,0.00,2.38,0.00,0.000,6,0.000,0.064,2495,2282,3458
$GC,4077,-1.21,-194.6,430.4,-7.9,241,4082,0.00,2.40,0.00,0.000,4,0.000,0.043,2495,880,3456
$GC,4104,-1.21,-194.6,432.9,-9.3,241,4109,0.00,2.38,0.00,0.000,6,0.000,0.031,2495,2281,3455
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4322,-0.31,0.0,451.3,8.6,247,4483,0.95,0.00,158.25,0.860,6,0.072,0.000,2699,2192,2664
$STATE,4484,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$GC,4485,1.21,194.6,458.2,0.0,251,4656,1.48,2.53,160.18,0.834,4,0.043,0.081,3034,808,1868
$GC,4694,1.21,194.6,446.3,11.3,256,4699,0.00,2.40,0.00,0.000,6,0.000,0.054,3034,2198,1862
$GC,5018,1.21,194.6,411.7,10.7,264,5022,0.00,2.47,0.00,0.000,4,0.000,0.050,3035,3605,1859
$GC,5106,1.21,194.6,400.9,12.6,266,5111,0.00,2.38,0.00,0.000,6,0.000,0.031,3034,2218,1859
$GC,5430,1.21,194.6,364.9,10.8,274,5435,0.00,2.47,0.00,0.000,4,0.000,0.047,3034,797,1855
$GC,5597,1.21,194.6,346.0,11.2,277,5605,0.00,2.40,0.00,0.000,6,0.000,0.031,3034,2206,1852
$GC,5929,1.21,194.6,309.4,11.2,286,5933,0.00,2.42,0.00,0.000,4,0.000,0.081,3034,3601,1852
$GC,6017,1.21,194.6,299.2,12.3,288,6022,0.00,2.38,0.00,0.000,6,0.000,0.029,3034,2203,1853
$GC,6343,1.21,194.6,265.0,10.0,304,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2203,1851
$GC,6653,1.21,194.6,234.2,10.6,319,6657,0.00,2.42,0.00,0.000,4,0.000,0.078,3035,796,1850
$GC,6695,1.21,194.6,229.3,11.7,321,6700,0.00,2.38,0.00,0.000,6,0.000,0.028,3034,2203,1848
$GC,7013,1.21,194.6,196.4,10.2,338,7016,0.00,2.40,0.00,0.000,4,0.000,0.078,3035,3600,1848
$GC,7080,1.23,206.5,190.2,9.6,344,7092,0.00,2.35,7.55,0.619,6,0.000,0.061,3035,2185,1822
$GC,7409,1.28,252.0,159.7,8.4,375,7455,0.00,2.40,40.55,0.667,4,0.000,0.073,3035,803,1635
$GC,7593,1.28,252.0,139.9,13.8,391,7601,0.00,2.35,0.00,0.000,6,0.000,0.025,3035,2210,1628
$GC,7919,1.33,289.3,105.1,8.7,422,7954,0.10,0.00,32.42,0.606,6,0.063,0.000,3066,2213,1484
$GC,8267,1.33,289.3,70.8,12.2,455,8271,0.00,2.35,0.00,0.000,4,0.000,0.037,3065,3601,1479
$GC,8316,1.33,289.3,64.5,12.5,459,8324,0.00,2.35,0.00,0.000,6,0.000,0.028,3065,2192,1479
$GC,8642,1.33,289.3,28.2,10.6,491,8648,0.00,2.33,0.00,0.000,4,0.000,0.037,3065,805,1478
$GC,8721,1.33,289.3,19.0,12.4,505,8727,0.00,1.95,0.00,0.000,6,0.000,0.047,3065,2050,1477
$STATE,8855,end climb,SURFACE_DEPTH_REACHED
$STATE,8855,begin surface coast
$FINISH,0.7,1.023497
$STATE,8891,end surface coast,CONTROL_FINISHED_OK
$STATE,8891,begin surface
$SM_CCo,8908,18.38,0.453,2,0,1400,310.06
$SM_GC,1.15,0.00,0.00,18.38,0.000,0.000,0.453,425,2301,1400,-10.79,0.59,310.06
$IRIDIUM_FIX,2052.52,-15749.62,060797,181846
$TT8_MAMPS,0.029146
$HUMID,1781
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.30
$XPDR_PINGS,499
$24V_AH,23.6,6.714
$10V_AH,10.2,3.372
$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,25.800,89.925,398.950,18.375,0.000,59.123,66.639,335.604,133.750,0.000,0.000,16.624,976.893,6252.929,497.751,1280.347,550.535,33.345,1140.458,0.000,1246.181,0.000,57.440
$DEVICE_MAMPS,163.371,84.370,859.807,453.297,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.482,345.668,599.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28530,535
$CAP_FILE_SIZE,84727,3
$CFSIZE,260165632,256888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110408,205144,2102.313,-15748.649,25,1.6,32,9.8