version: 66.03
glider: 139
mission: 2
dive: 48
start: 4 14 108 15 34 19
data:
$ID,139
$MISSION,2
$DIVE,48
$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,160
$T_MISSION,360
$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,543.09418
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1252988.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,152707,2102.983,-15745.834,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-56.1
$GPS2,153327,2102.986,-15745.817,14,1.6,14,9.8
$SPEED_LIMITS,0.162,0.293
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.121,-0.108
$KALMAN_X,-52126.4,528.1,400.1,62649.4,-997.6
$KALMAN_Y,-18289.7,160.6,-39.0,-4389.4,-413.3
$MHEAD_RNG_PITCHd_Wd,218.3,2321,-27.8,-9.375
$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,-1.81,-56.2,0.0,0.0,0,101,0.00,0.00,-81.38,0.000,2,0.000,0.000,426,2169,2775
$GC,103,-1.83,-72.3,3.1,-7.6,15,122,11.18,1.15,-3.90,0.000,4,0.163,0.122,2376,2883,2960
$GC,229,-1.83,-72.3,30.7,-21.1,37,233,0.00,1.08,0.00,0.000,6,0.000,0.022,2376,2214,2962
$GC,558,-1.83,-72.3,92.8,-16.8,68,562,0.00,2.33,0.00,0.000,4,0.000,0.035,2376,811,2963
$GC,776,-1.83,-72.3,124.4,-13.6,87,783,0.00,2.28,0.00,0.000,6,0.000,0.020,2376,2199,2963
$GC,1102,-1.83,-72.3,170.4,-15.5,118,1106,0.00,2.33,0.00,0.000,4,0.000,0.035,2376,3593,2964
$GC,1209,-1.83,-72.3,187.4,-15.6,127,1213,0.00,2.25,0.00,0.000,6,0.000,0.058,2376,2206,2964
$GC,1526,-1.83,-72.3,230.4,-12.8,146,1530,0.00,2.35,0.00,0.000,4,0.000,0.036,2376,3600,2965
$GC,1621,-1.83,-72.3,244.1,-13.5,150,1626,0.00,2.28,0.00,0.000,6,0.000,0.057,2376,2199,2965
$GC,1937,-1.83,-72.3,280.2,-11.6,165,1941,0.00,2.35,0.00,0.000,4,0.000,0.038,2376,3595,2964
$GC,2138,-1.83,-72.3,302.0,-10.5,174,2142,0.00,2.28,0.00,0.000,6,0.000,0.024,2377,2202,2965
$GC,2486,-1.83,-72.3,340.2,-11.3,183,2490,0.00,2.38,0.00,0.000,4,0.000,0.041,2376,3593,2964
$GC,2618,-1.83,-72.3,355.1,-11.3,186,2623,0.00,2.33,0.00,0.000,6,0.000,0.025,2376,2203,2963
$GC,2943,-1.83,-72.3,391.6,-11.8,194,2947,0.00,2.40,0.00,0.000,4,0.000,0.044,2376,3597,2962
$GC,3199,-1.83,-72.3,422.8,-11.3,199,3206,0.00,2.35,0.00,0.000,6,0.000,0.028,2376,2204,2960
$STATE,3489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3489,begin apogee
$GC,3493,-0.31,0.0,453.6,10.6,207,3557,1.62,0.00,59.88,0.850,6,0.091,0.000,2710,2138,2664
$STATE,3557,end apogee,CONTROL_FINISHED_OK
$STATE,3557,begin climb
$GC,3559,1.83,72.3,454.5,0.0,208,3628,2.08,2.50,59.92,0.829,4,0.044,0.076,3187,755,2369
$GC,3673,1.84,79.7,448.4,8.6,210,3685,0.00,2.35,7.38,0.695,6,0.000,0.029,3186,2146,2339
$GC,4008,1.84,79.7,415.6,9.6,219,4012,0.00,2.45,0.00,0.000,4,0.000,0.048,3187,3552,2335
$GC,4108,1.85,86.5,406.5,8.6,221,4119,0.00,2.38,6.57,0.676,6,0.000,0.030,3186,2161,2312
$GC,4455,1.87,106.7,381.8,7.1,230,4479,0.00,2.47,18.08,0.795,4,0.000,0.081,3187,3539,2228
$GC,4732,1.87,106.7,348.3,13.5,236,4737,0.00,2.40,0.00,0.000,6,0.000,0.052,3187,2147,2225
$GC,5051,1.87,106.7,312.7,10.7,244,5055,0.00,2.45,0.00,0.000,4,0.000,0.046,3187,3556,2222
$GC,5150,1.87,106.7,301.4,11.2,246,5155,0.00,2.40,0.00,0.000,6,0.000,0.030,3187,2148,2222
$GC,5468,1.87,107.4,269.4,9.3,261,5472,0.00,2.40,0.00,0.000,4,0.000,0.043,3187,748,2220
$GC,5538,1.87,107.4,262.1,11.7,264,5543,0.00,2.38,0.00,0.000,6,0.000,0.029,3187,2151,2219
$GC,5860,1.87,107.4,229.5,11.3,280,5864,0.00,2.40,0.00,0.000,4,0.000,0.044,3186,3552,2219
$GC,6116,1.89,124.2,206.5,7.5,291,6137,0.00,2.38,14.27,0.690,6,0.000,0.056,3187,2146,2156
$GC,6459,1.89,124.2,172.2,9.9,320,6464,0.00,2.42,0.00,0.000,4,0.000,0.041,3187,3554,2153
$GC,6498,1.89,124.2,168.1,10.9,323,6503,0.00,2.35,0.00,0.000,6,0.000,0.061,3187,2144,2153
$GC,6823,1.91,139.8,137.8,7.6,353,6845,0.00,2.42,13.77,0.629,4,0.000,0.039,3187,756,2092
$GC,7096,1.92,146.2,117.0,8.7,377,7107,0.00,2.33,6.35,0.532,6,0.000,0.059,3186,2154,2069
$GC,7432,1.95,173.7,95.3,6.3,409,7464,0.00,2.42,24.85,0.597,4,0.000,0.071,3187,3542,1955
$GC,7521,1.95,173.7,88.3,9.5,417,7525,0.00,2.30,0.00,0.000,6,0.000,0.024,3187,2146,1954
$GC,7851,1.97,183.2,61.1,8.3,448,7866,0.00,2.40,8.98,0.513,4,0.000,0.071,3186,3542,1916
$GC,8119,1.97,183.2,33.3,11.7,472,8124,0.00,2.28,0.00,0.000,6,0.000,0.027,3186,2147,1916
$STATE,8408,end climb,SURFACE_DEPTH_REACHED
$STATE,8408,begin surface coast
$FINISH,0.1,1.022915
$STATE,8437,end surface coast,CONTROL_FINISHED_OK
$STATE,8438,begin surface
$SM_CCo,8456,219.38,0.504,0,0,449,543.09
$SM_GC,0.76,0.00,0.00,219.38,0.000,0.000,0.504,429,2141,449,-10.81,-1.67,543.09
$IRIDIUM_FIX,2057.14,-15748.75,090797,131333
$TT8_MAMPS,0.029146
$HUMID,1718
$INTERNAL_PRESSURE,8.50237
$TCM_TEMP,22.50
$XPDR_PINGS,549
$24V_AH,23.6,10.184
$10V_AH,10.2,5.046
$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,26.825,78.025,220.050,219.375,0.000,23.038,41.082,228.768,146.250,0.000,0.000,16.217,1013.878,5636.241,528.748,1487.463,400.190,33.346,1232.900,0.000,1458.952,0.000,58.385
$DEVICE_MAMPS,162.604,121.953,849.836,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.305,353.858,622.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25427,525
$CAP_FILE_SIZE,84936,5
$CFSIZE,260165632,255787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140408,180007,2102.914,-15745.900,32,0.9,37,9.8