version: 66.03
glider: 139
mission: 2
dive: 26
start: 4 12 108 1 59 7
data:
$ID,139
$MISSION,2
$DIVE,26
$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,-1251693.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2780
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,47
$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
$GPS1,014752,2102.454,-15746.714,12,2.3,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.5
$GPS2,015815,2102.514,-15746.723,14,1.7,14,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.271
$KALMAN_X,-19146.3,-293.4,561.9,28774.5,-1128.9
$KALMAN_Y,-4013.9,-189.9,-10.3,-19214.0,-281.6
$MHEAD_RNG_PITCHd_Wd,325.1,18871,-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,-194.6,0.0,0.0,0,69,0.00,0.00,-50.12,0.000,2,0.000,0.000,432,2199,2824
$GC,71,-1.21,-194.6,3.3,-9.6,9,101,11.73,2.42,-12.50,0.000,4,0.156,0.059,2506,3600,3461
$GC,202,-1.21,-194.6,27.2,-16.0,32,208,0.00,2.30,0.00,0.000,6,0.000,0.023,2506,2187,3462
$GC,535,-1.21,-194.6,79.1,-14.4,65,539,0.00,2.33,0.00,0.000,4,0.000,0.070,2506,801,3462
$GC,577,-1.21,-194.6,85.5,-13.9,68,585,0.00,2.30,0.00,0.000,6,0.000,0.055,2506,2201,3462
$GC,903,-1.21,-194.6,124.8,-12.5,99,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2203,3463
$GC,1221,-1.21,-194.6,161.4,-12.1,129,1225,0.00,2.33,0.00,0.000,4,0.000,0.035,2506,3591,3464
$GC,1295,-1.21,-194.6,170.3,-11.8,135,1299,0.00,2.28,0.00,0.000,6,0.000,0.021,2506,2194,3464
$GC,1627,-1.21,-194.6,204.5,-9.4,164,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2191,3465
$GC,1938,-1.21,-194.6,233.9,-10.0,179,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2191,3465
$GC,2246,-1.21,-194.6,265.8,-10.3,194,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2191,3465
$GC,2555,-1.21,-194.6,298.5,-10.6,209,2559,0.00,2.33,0.00,0.000,4,0.000,0.039,2506,806,3463
$GC,2577,-1.21,-194.6,300.9,-11.1,210,2581,0.00,1.95,0.00,0.000,6,0.000,0.051,2506,2022,3464
$GC,2926,-1.21,-194.6,329.8,-7.6,219,2930,0.00,2.65,0.00,0.000,4,0.000,0.041,2506,3593,3462
$GC,3048,-1.21,-194.6,340.4,-8.5,221,3052,0.00,2.30,0.00,0.000,6,0.000,0.026,2506,2197,3462
$GC,3384,-1.21,-194.6,369.2,-8.5,230,3388,0.00,2.40,0.00,0.000,4,0.000,0.043,2506,3595,3460
$GC,3449,-1.21,-194.6,375.1,-9.0,231,3454,0.00,2.30,0.00,0.000,6,0.000,0.044,2506,2199,3460
$GC,3792,-1.21,-194.6,405.5,-8.4,240,3796,0.00,2.38,0.00,0.000,4,0.000,0.042,2506,802,3458
$GC,3834,-1.21,-194.6,409.2,-8.5,241,3839,0.00,2.33,0.00,0.000,6,0.000,0.028,2506,2187,3458
$GC,4159,-1.21,-194.6,435.8,-8.2,249,4163,0.00,2.38,0.00,0.000,4,0.000,0.043,2506,803,3457
$GC,4208,-1.21,-194.6,439.9,-7.7,250,4213,0.00,2.35,0.00,0.000,6,0.000,0.064,2506,2192,3456
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4367,-0.31,0.0,451.1,7.2,254,4528,0.95,0.00,158.12,0.853,6,0.071,0.000,2709,2192,2664
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4531,1.21,194.6,456.9,0.0,258,4701,1.48,2.62,160.10,0.827,4,0.041,0.049,3045,754,1869
$GC,4790,1.21,194.6,436.4,14.1,264,4795,0.00,2.40,0.00,0.000,6,0.000,0.063,3045,2147,1860
$GC,5108,1.21,194.6,400.7,10.7,272,5112,0.00,2.45,0.00,0.000,4,0.000,0.046,3045,746,1858
$GC,5174,1.21,194.6,393.0,11.6,273,5179,0.00,2.40,0.00,0.000,6,0.000,0.031,3045,2152,1856
$GC,5516,1.21,194.6,354.5,11.6,282,5521,0.00,2.42,0.00,0.000,4,0.000,0.047,3046,3550,1855
$GC,5728,1.21,194.6,326.9,12.8,286,5735,0.00,2.40,0.00,0.000,6,0.000,0.043,3045,2151,1855
$GC,6040,1.21,194.6,289.4,11.8,296,6044,0.00,2.42,0.00,0.000,4,0.000,0.044,3046,3551,1853
$GC,6089,1.21,194.6,283.5,12.6,298,6094,0.00,2.40,0.00,0.000,6,0.000,0.033,3046,2144,1853
$GC,6415,1.21,194.6,248.7,10.2,314,6419,0.00,2.42,0.00,0.000,4,0.000,0.043,3045,3553,1852
$GC,6437,1.21,194.6,246.3,11.4,315,6442,0.00,2.35,0.00,0.000,6,0.000,0.028,3046,2149,1852
$GC,6763,1.23,212.4,216.1,9.4,331,6785,0.00,2.47,13.20,0.685,4,0.000,0.047,3045,750,1797
$GC,6874,1.23,212.4,204.0,10.9,336,6878,0.00,2.35,0.00,0.000,6,0.000,0.028,3045,2161,1794
$GC,7204,1.23,212.4,169.4,10.5,365,7208,0.00,2.38,0.00,0.000,4,0.000,0.041,3046,3556,1794
$GC,7314,1.23,212.4,157.7,10.3,374,7321,0.00,2.38,0.00,0.000,6,0.000,0.061,3046,2147,1794
$GC,7640,1.36,310.2,130.3,6.6,405,7732,0.12,2.45,84.03,0.633,4,0.058,0.036,3080,3543,1398
$GC,7856,1.36,310.2,102.9,12.9,425,7860,0.00,2.33,0.00,0.000,6,0.000,0.049,3080,2143,1395
$GC,8180,1.36,310.2,68.4,10.0,455,8184,0.00,2.38,0.00,0.000,4,0.000,0.038,3080,749,1391
$GC,8274,1.36,310.2,57.8,11.5,463,8279,0.00,2.30,0.00,0.000,6,0.000,0.022,3080,2167,1388
$GC,8602,1.36,310.2,19.7,12.5,500,8609,0.00,2.40,0.00,0.000,4,0.000,0.036,3080,749,1388
$GC,8659,1.36,310.2,12.9,12.7,510,8665,0.00,2.28,0.00,0.000,6,0.000,0.021,3080,2156,1387
$STATE,8742,end climb,SURFACE_DEPTH_REACHED
$STATE,8743,begin surface coast
$FINISH,0.4,1.023210
$STATE,8772,end surface coast,CONTROL_FINISHED_OK
$STATE,8772,begin surface
$SM_CCo,8849,0.00,0.000,0,0,1384,313.98
$SM_GC,1.12,11.52,0.00,0.00,0.037,0.000,0.000,428,2160,1384,-10.75,-1.22,313.98
$IRIDIUM_FIX,2054.83,-15744.48,070797,010154
$TT8_MAMPS,0.028379
$HUMID,1798
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,22.40
$XPDR_PINGS,526
$24V_AH,23.6,7.081
$10V_AH,10.2,3.556
$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,25.800,85.300,415.450,0.000,0.000,59.465,56.919,360.597,140.500,0.000,0.000,15.519,980.119,6146.525,476.383,1313.685,565.377,33.344,1129.967,0.000,1278.437,0.000,57.458
$DEVICE_MAMPS,156.468,69.797,852.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.946,342.414,599.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28564,530
$CAP_FILE_SIZE,85654,8
$CFSIZE,260165632,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120408,042737,2103.660,-15747.543,28,1.1,28,9.8