version: 66.03
glider: 139
mission: 2
dive: 27
start: 4 12 108 4 36 5
data:
$ID,139
$MISSION,2
$DIVE,27
$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,-1251709
$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,37
$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,4
$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
$GPS1,042737,2103.660,-15747.543,28,1.1,28,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.7
$GPS2,043514,2103.727,-15747.619,13,1.2,13,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.164,0.251
$KALMAN_X,-19532.0,-84.4,330.5,27632.3,-1019.6
$KALMAN_Y,-4349.0,21.6,-78.5,-16772.6,-48.8
$MHEAD_RNG_PITCHd_Wd,317.1,16211,-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,-194.6,0.0,0.0,0,69,0.00,0.00,-49.58,0.000,2,0.000,0.000,428,2158,2788
$GC,70,-1.21,-194.6,3.3,-10.3,9,105,11.95,2.45,-13.27,0.000,4,0.164,0.078,2506,3587,3462
$GC,274,-1.21,-194.6,36.4,-14.4,42,278,0.00,2.28,0.00,0.000,6,0.000,0.022,2506,2194,3463
$GC,598,-1.21,-194.6,84.0,-13.4,72,602,0.00,2.35,0.00,0.000,4,0.000,0.036,2506,795,3463
$GC,670,-1.21,-194.6,93.4,-13.0,78,674,0.00,2.28,0.00,0.000,6,0.000,0.021,2506,2201,3464
$GC,994,-1.21,-194.6,131.3,-11.9,108,998,0.00,2.35,0.00,0.000,4,0.000,0.046,2506,3601,3463
$GC,1071,-1.21,-194.6,140.2,-11.5,114,1077,0.00,2.30,0.00,0.000,6,0.000,0.021,2506,2202,3464
$GC,1395,-1.21,-194.6,179.7,-11.3,145,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2201,3465
$GC,1711,-1.21,-194.6,211.7,-9.3,169,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2200,3465
$GC,2019,-1.21,-194.6,239.2,-8.8,184,2023,0.00,2.35,0.00,0.000,4,0.000,0.038,2506,802,3466
$GC,2096,-1.21,-194.6,246.8,-9.2,187,2102,0.00,2.30,0.00,0.000,6,0.000,0.057,2506,2195,3466
$GC,2411,-1.21,-194.6,277.6,-9.0,203,2415,0.00,2.38,0.00,0.000,4,0.000,0.040,2506,3598,3465
$GC,2450,-1.21,-194.6,280.9,-9.1,205,2455,0.00,2.30,0.00,0.000,6,0.000,0.032,2506,2197,3465
$GC,2775,-1.21,-194.6,306.4,-7.6,219,2779,0.00,2.35,0.00,0.000,4,0.000,0.039,2506,804,3465
$GC,2824,-1.21,-194.6,310.5,-8.1,220,2828,0.00,2.30,0.00,0.000,6,0.000,0.025,2506,2188,3465
$GC,3144,-1.21,-194.6,335.1,-7.6,228,3148,0.00,2.40,0.00,0.000,4,0.000,0.049,2506,3597,3463
$GC,3220,-1.21,-194.6,341.2,-7.6,229,3227,0.00,2.33,0.00,0.000,6,0.000,0.026,2506,2204,3463
$GC,3552,-1.21,-194.6,364.6,-7.0,238,3556,0.00,2.40,0.00,0.000,4,0.000,0.044,2506,3598,3461
$GC,3612,-1.21,-194.6,369.6,-8.4,239,3617,0.00,2.35,0.00,0.000,6,0.000,0.061,2506,2198,3461
$GC,3960,-1.21,-194.6,395.2,-7.2,248,3964,0.00,2.40,0.00,0.000,4,0.000,0.043,2506,795,3459
$GC,4038,-1.21,-194.6,401.4,-7.9,249,4044,0.00,2.33,0.00,0.000,6,0.000,0.030,2506,2196,3458
$GC,4368,-1.21,-194.6,427.0,-8.0,258,4372,0.00,2.42,0.00,0.000,4,0.000,0.049,2506,3598,3457
$GC,4411,-1.21,-194.6,430.7,-9.3,259,4416,0.00,2.35,0.00,0.000,6,0.000,0.028,2506,2202,3456
$STATE,4655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4655,begin apogee
$GC,4659,-0.31,0.0,450.1,8.1,265,4821,0.95,0.00,158.50,0.861,6,0.073,0.000,2709,2139,2664
$STATE,4821,end apogee,CONTROL_FINISHED_OK
$STATE,4821,begin climb
$GC,4823,1.21,194.6,457.2,0.0,269,4991,1.50,2.45,161.32,0.834,4,0.040,0.051,3048,765,1869
$GC,5035,1.21,194.6,445.1,12.8,274,5040,0.00,2.38,0.00,0.000,6,0.000,0.031,3048,2147,1862
$GC,5382,1.21,194.6,403.5,11.7,283,5387,0.00,2.47,0.00,0.000,4,0.000,0.049,3048,3559,1859
$GC,5471,1.21,194.6,392.1,13.0,285,5476,0.00,2.40,0.00,0.000,6,0.000,0.031,3048,2160,1859
$GC,5795,1.21,194.6,356.6,10.5,293,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2159,1856
$GC,6120,1.21,194.6,319.3,11.9,301,6124,0.00,2.45,0.00,0.000,4,0.000,0.078,3048,3558,1854
$GC,6254,1.21,194.6,300.8,13.8,304,6258,0.00,2.38,0.00,0.000,6,0.000,0.030,3048,2144,1854
$GC,6588,1.21,194.6,261.8,10.4,319,6592,0.00,2.42,0.00,0.000,4,0.000,0.045,3048,742,1852
$GC,6619,1.21,194.6,258.5,10.3,320,6624,0.00,2.38,0.00,0.000,6,0.000,0.028,3048,2149,1850
$GC,6941,1.29,258.5,233.6,7.8,336,7003,0.00,2.53,52.83,0.737,4,0.000,0.074,3048,3553,1609
$GC,7108,1.29,258.5,214.2,13.1,343,7115,0.00,2.38,0.00,0.000,6,0.000,0.028,3048,2157,1606
$GC,7431,1.29,258.5,175.7,11.3,368,7435,0.00,2.42,0.00,0.000,4,0.000,0.042,3048,746,1602
$GC,7507,1.29,258.5,166.9,11.0,374,7515,0.00,2.35,0.00,0.000,6,0.000,0.025,3048,2148,1598
$GC,7833,1.30,267.9,136.5,9.7,405,7846,0.00,2.45,8.20,0.574,4,0.000,0.070,3048,3547,1570
$GC,7969,1.30,267.9,121.8,11.8,417,7974,0.00,2.33,0.00,0.000,6,0.000,0.025,3048,2142,1570
$GC,8293,1.30,267.9,89.3,10.3,447,8298,0.00,2.35,0.00,0.000,4,0.000,0.038,3048,753,1569
$GC,8460,1.30,267.9,69.5,10.5,461,8468,0.00,2.33,0.00,0.000,6,0.000,0.021,3048,2163,1566
$GC,8786,1.35,303.5,40.4,8.8,492,8823,0.10,2.45,31.58,0.541,4,0.061,0.068,3080,746,1425
$GC,8959,1.35,303.5,19.8,12.8,514,8965,0.00,2.28,0.00,0.000,6,0.000,0.021,3080,2157,1419
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9111,begin surface coast
$FINISH,0.2,1.023298
$STATE,9133,end surface coast,CONTROL_FINISHED_OK
$STATE,9134,begin surface
$SM_CCo,9151,5.32,0.405,0,0,1400,310.06
$SM_GC,2.17,0.00,0.00,5.32,0.000,0.000,0.405,433,2161,1400,-10.80,-1.10,310.06
$IRIDIUM_FIX,2052.52,-15744.48,070797,020232
$TT8_MAMPS,0.029146
$HUMID,1792
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,22.40
$XPDR_PINGS,523
$24V_AH,23.6,7.214
$10V_AH,10.2,3.621
$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,26.025,90.175,412.425,5.325,0.000,30.299,29.200,315.379,139.750,0.000,0.000,14.948,1019.760,6286.095,512.169,1343.797,462.242,33.344,1163.173,0.000,1310.991,0.000,57.431
$DEVICE_MAMPS,164.138,102.778,860.574,404.976,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.239,350.322,614.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,545
$CAP_FILE_SIZE,86992,8
$CFSIZE,260165632,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,070951,2104.793,-15749.319,33,1.6,34,9.8