version: 66.03
glider: 139
mission: 2
dive: 31
start: 4 12 108 15 50 31
data:
$ID,139
$MISSION,2
$DIVE,31
$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,-1252679.2
$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,48
$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
$GPS1,153857,2107.498,-15753.744,48,3.7,67,9.8
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.0
$GPS2,154939,2107.434,-15753.867,14,1.5,14,9.8
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.146,0.262
$KALMAN_X,-24639.6,-41.1,338.3,21930.4,-1912.0
$KALMAN_Y,-6564.3,-14.5,-117.2,-7612.7,-647.9
$MHEAD_RNG_PITCHd_Wd,19.3,4108,-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,15,begin dive
$GC,16,-1.21,-194.6,0.0,0.0,0,73,0.00,0.00,-54.72,0.000,2,0.000,0.000,424,2160,2969
$GC,75,-1.21,-194.6,3.6,-9.1,10,105,12.00,2.42,-9.18,0.000,4,0.166,0.080,2506,3586,3460
$GC,200,-1.21,-194.6,27.7,-15.4,32,206,0.00,2.28,0.00,0.000,6,0.000,0.029,2505,2195,3462
$GC,525,-1.21,-194.6,72.4,-13.3,64,529,0.00,2.35,0.00,0.000,4,0.000,0.036,2505,793,3462
$GC,563,-1.21,-194.6,77.7,-13.7,67,567,0.00,2.28,0.00,0.000,6,0.000,0.021,2505,2203,3462
$GC,887,-1.21,-194.6,116.7,-12.1,97,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2206,3463
$GC,1205,-1.21,-194.6,154.3,-11.7,127,1209,0.00,2.33,0.00,0.000,4,0.000,0.035,2506,3594,3463
$GC,1260,-1.21,-194.6,160.8,-11.3,131,1267,0.00,2.30,0.00,0.000,6,0.000,0.021,2506,2196,3464
$GC,1585,-1.21,-194.6,194.2,-8.8,162,1589,0.00,2.33,0.00,0.000,4,0.000,0.035,2506,803,3464
$GC,1617,-1.21,-194.6,197.1,-8.9,164,1624,0.00,2.28,0.00,0.000,6,0.000,0.021,2505,2191,3465
$GC,1944,-1.21,-194.6,225.0,-8.6,182,1948,0.00,2.35,0.00,0.000,4,0.000,0.038,2506,3589,3465
$GC,2015,-1.21,-194.6,232.5,-10.9,185,2019,0.00,2.25,0.00,0.000,6,0.000,0.051,2506,2202,3465
$GC,2337,-1.21,-194.6,264.5,-9.2,201,2341,0.00,2.38,0.00,0.000,4,0.000,0.039,2506,3598,3464
$GC,2376,-1.21,-194.6,268.0,-8.9,203,2380,0.00,2.30,0.00,0.000,6,0.000,0.025,2506,2195,3465
$GC,2702,-1.21,-194.6,299.0,-9.8,219,2706,0.00,2.38,0.00,0.000,4,0.000,0.076,2505,3587,3464
$GC,2773,-1.21,-194.6,306.3,-10.5,221,2778,0.00,2.30,0.00,0.000,6,0.000,0.025,2506,2208,3463
$GC,3117,-1.21,-194.6,336.3,-8.5,230,3121,0.00,2.40,0.00,0.000,4,0.000,0.074,2505,796,3462
$GC,3171,-1.21,-194.6,341.3,-9.5,231,3175,0.00,2.33,0.00,0.000,6,0.000,0.028,2506,2185,3462
$GC,3484,-1.21,-194.6,366.1,-7.9,239,3488,0.00,2.35,0.00,0.000,4,0.000,0.041,2505,805,3459
$GC,3533,-1.21,-194.6,370.6,-9.1,240,3537,0.00,2.33,0.00,0.000,6,0.000,0.028,2506,2206,3459
$GC,3851,-1.21,-194.6,399.2,-9.0,248,3855,0.00,2.40,0.00,0.000,4,0.000,0.047,2506,3603,3457
$GC,3906,-1.21,-194.6,404.5,-9.7,249,3910,0.00,2.35,0.00,0.000,6,0.000,0.028,2505,2208,3457
$GC,4219,-1.21,-194.6,433.7,-9.1,257,4223,0.00,2.40,0.00,0.000,4,0.000,0.048,2506,3595,3455
$GC,4261,-1.21,-194.6,437.5,-8.6,258,4266,0.00,2.35,0.00,0.000,6,0.000,0.048,2506,2204,3455
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4426,-0.31,0.0,450.3,7.7,262,4588,0.95,0.00,157.93,0.858,6,0.072,0.000,2709,2131,2664
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4590,1.21,194.6,456.0,0.0,266,4761,1.48,2.60,160.02,0.833,4,0.041,0.058,3044,3553,1870
$GC,4832,1.21,194.6,436.0,14.9,271,4839,0.00,2.40,0.00,0.000,6,0.000,0.064,3044,2164,1865
$GC,5163,1.21,194.6,393.3,12.2,280,5167,0.00,2.42,0.00,0.000,4,0.000,0.046,3044,3547,1860
$GC,5234,1.21,194.6,384.4,13.0,281,5239,0.00,2.40,0.00,0.000,6,0.000,0.064,3044,2151,1860
$GC,5571,1.21,194.6,344.8,11.4,290,5575,0.00,2.45,0.00,0.000,4,0.000,0.046,3044,741,1856
$GC,5766,1.21,194.6,321.1,12.5,294,5771,0.00,2.38,0.00,0.000,6,0.000,0.074,3044,2141,1853
$GC,6096,1.21,194.6,285.4,10.3,305,6100,0.00,2.45,0.00,0.000,4,0.000,0.046,3044,3554,1853
$GC,6202,1.21,194.6,273.8,11.8,310,6206,0.00,2.38,0.00,0.000,6,0.000,0.064,3044,2139,1853
$GC,6527,1.21,194.6,239.8,11.3,326,6531,0.00,2.45,0.00,0.000,4,0.000,0.044,3044,3552,1852
$GC,6643,1.21,194.6,227.1,10.4,331,6648,0.00,2.38,0.00,0.000,6,0.000,0.062,3044,2150,1852
$GC,6965,1.31,269.6,199.7,7.4,347,7033,0.00,2.47,62.38,0.706,4,0.000,0.043,3044,3558,1563
$GC,7117,1.31,269.6,182.8,11.6,360,7124,0.00,2.35,0.00,0.000,6,0.000,0.028,3044,2149,1560
$GC,7442,1.31,269.6,143.1,12.7,391,7446,0.00,2.40,0.00,0.000,4,0.000,0.041,3044,750,1554
$GC,7492,1.31,269.6,136.5,13.4,395,7496,0.00,2.33,0.00,0.000,6,0.000,0.059,3044,2157,1551
$GC,7816,1.33,291.0,105.0,9.3,425,7837,0.12,0.00,17.80,0.597,6,0.057,0.000,3080,2162,1477
$GC,8154,1.33,291.0,65.6,11.6,457,8158,0.00,2.40,0.00,0.000,4,0.000,0.038,3080,747,1473
$GC,8191,1.33,291.0,60.7,12.8,460,8199,0.00,2.33,0.00,0.000,6,0.000,0.058,3080,2151,1471
$GC,8520,1.33,291.0,21.0,11.7,497,8526,0.00,2.38,0.00,0.000,4,0.000,0.038,3080,741,1471
$GC,8582,1.33,291.0,12.7,13.8,508,8588,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2154,1471
$STATE,8660,end climb,SURFACE_DEPTH_REACHED
$STATE,8660,begin surface coast
$FINISH,0.5,1.023618
$STATE,8684,end surface coast,CONTROL_FINISHED_OK
$STATE,8684,begin surface
$SM_CCo,8701,16.27,0.500,0,0,1400,310.06
$SM_GC,0.91,0.00,0.00,16.27,0.000,0.000,0.500,427,2156,1400,-10.82,-1.24,310.06
$IRIDIUM_FIX,2059.45,-15756.04,070797,151502
$TT8_MAMPS,0.029146
$HUMID,1837
$INTERNAL_PRESSURE,8.5512
$TCM_TEMP,21.90
$XPDR_PINGS,524
$24V_AH,23.6,7.773
$10V_AH,10.2,3.906
$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,26.100,94.700,398.125,16.275,0.000,56.788,61.414,377.168,140.000,0.000,0.000,16.418,980.182,6011.815,485.791,1305.672,588.350,33.349,1141.583,0.000,1273.525,0.000,57.844
$DEVICE_MAMPS,165.672,79.768,858.273,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.441,345.671,595.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,526
$CAP_FILE_SIZE,88415,8
$CFSIZE,260165632,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120408,181701,2108.386,-15754.023,37,1.5,37,9.8