version: 66.03
glider: 139
mission: 2
dive: 53
start: 4 15 108 4 54 28
data:
$ID,139
$MISSION,2
$DIVE,53
$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,170
$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,38
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1253102.1
$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,40
$R_STBD_OVSHOOT,37
$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
$GPS1,044544,2102.198,-15747.070,12,1.6,12,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.3
$GPS2,045337,2102.200,-15747.074,33,1.6,33,9.8
$SPEED_LIMITS,0.113,0.287
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.015,-0.112
$KALMAN_X,-50035.1,-166.3,57.3,59440.1,335.2
$KALMAN_Y,-14102.8,254.3,-38.5,-10121.7,1032.6
$MHEAD_RNG_PITCHd_Wd,178.0,297,-36.2,-8.824
$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,-2.30,-30.5,0.0,0.0,0,68,0.00,0.00,-48.53,0.000,6,0.000,0.000,432,2197,2790
$GC,70,-2.31,-42.6,3.0,-6.5,9,89,10.43,2.35,-1.08,0.000,4,0.158,0.080,2269,796,2839
$GC,207,-2.31,-42.6,36.6,-26.5,31,210,0.00,1.73,0.00,0.000,6,0.000,0.065,2269,1905,2840
$GC,536,-2.31,-42.6,108.0,-16.4,62,541,0.00,2.85,0.00,0.000,4,0.000,0.033,2269,3608,2841
$GC,716,-2.31,-42.6,140.1,-18.3,77,722,0.00,2.28,0.00,0.000,6,0.000,0.021,2269,2196,2842
$GC,1040,-2.31,-42.6,190.4,-14.0,108,1044,0.00,2.38,0.00,0.000,4,0.000,0.035,2269,3608,2844
$GC,1296,-2.31,-42.6,228.7,-14.4,122,1304,0.00,2.33,0.00,0.000,6,0.000,0.023,2269,2201,2844
$GC,1612,-2.31,-42.6,274.2,-13.1,138,1616,0.00,2.38,0.00,0.000,4,0.000,0.038,2269,3605,2845
$GC,1823,-2.31,-42.6,306.6,-15.1,146,1830,0.00,2.35,0.00,0.000,6,0.000,0.030,2269,2199,2845
$GC,2154,-2.31,-42.6,356.7,-15.6,155,2158,0.00,2.40,0.00,0.000,4,0.000,0.040,2269,3609,2844
$GC,2410,-2.31,-42.6,392.3,-11.2,160,2417,0.00,2.38,0.00,0.000,6,0.000,0.061,2269,2200,2843
$GC,2743,-2.31,-42.6,431.5,-12.1,169,2747,0.00,2.40,0.00,0.000,4,0.000,0.044,2269,3598,2841
$GC,2797,-2.31,-42.6,438.1,-11.3,170,2802,0.00,2.35,0.00,0.000,6,0.000,0.028,2269,2204,2840
$STATE,2947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2948,begin apogee
$GC,2952,-0.31,0.0,453.7,10.4,174,2993,2.20,0.00,36.47,0.835,6,0.107,0.000,2706,2139,2664
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2995,2.31,42.6,454.5,0.0,175,3040,2.53,2.45,36.00,0.815,4,0.071,0.077,3292,769,2490
$GC,3067,2.32,45.8,449.1,8.2,176,3080,0.00,2.35,4.45,0.557,6,0.000,0.053,3292,2151,2476
$GC,3403,2.32,45.8,415.4,9.7,185,3407,0.00,2.40,0.00,0.000,4,0.000,0.041,3292,762,2473
$GC,3447,2.32,51.0,411.8,7.8,186,3457,0.00,2.35,5.53,0.634,6,0.000,0.030,3292,2147,2455
$GC,3770,2.34,66.5,390.6,5.8,194,3789,0.00,2.50,13.70,0.775,4,0.000,0.079,3292,3546,2392
$GC,3839,2.36,81.7,386.7,5.9,195,3859,0.00,2.35,13.68,0.765,6,0.000,0.064,3292,2167,2331
$GC,4183,2.36,81.7,355.1,9.8,204,4187,0.00,2.40,0.00,0.000,4,0.000,0.045,3292,3550,2328
$GC,4434,2.36,81.7,328.8,9.5,209,4439,0.00,2.38,0.00,0.000,6,0.000,0.064,3292,2156,2327
$GC,4771,2.36,81.7,297.1,10.0,218,4775,0.00,2.42,0.00,0.000,4,0.000,0.042,3292,740,2325
$GC,4870,2.36,81.7,286.5,10.0,222,4877,0.00,2.38,0.00,0.000,6,0.000,0.029,3292,2151,2324
$GC,5185,2.38,93.8,262.4,6.5,238,5200,0.00,2.45,10.05,0.701,4,0.000,0.074,3292,746,2281
$GC,5452,2.39,103.4,242.3,7.0,249,5469,0.00,2.38,9.48,0.678,6,0.000,0.054,3292,2153,2241
$GC,5777,2.39,103.4,213.0,10.0,265,5781,0.00,2.40,0.00,0.000,4,0.000,0.039,3292,748,2240
$GC,6035,2.40,112.5,189.9,7.1,282,6052,0.00,2.30,8.77,0.643,6,0.000,0.028,3292,2156,2204
$GC,6369,2.40,112.5,160.9,9.2,314,6373,0.00,2.40,0.00,0.000,4,0.000,0.038,3292,745,2203
$GC,6514,2.40,114.5,147.5,8.4,326,6521,0.00,2.33,0.00,0.000,6,0.000,0.025,3292,2145,2202
$GC,6841,2.42,131.0,121.4,5.6,357,6864,0.00,2.42,16.42,0.615,4,0.000,0.068,3292,738,2128
$GC,7071,2.45,149.7,105.8,5.2,377,7092,0.00,2.35,16.70,0.595,6,0.000,0.058,3292,2156,2053
$GC,7417,2.46,158.3,80.2,7.2,410,7432,0.10,2.38,8.57,0.526,4,0.071,0.037,3318,3533,2018
$GC,7685,2.46,158.3,53.7,10.8,434,7689,0.00,2.28,0.00,0.000,6,0.000,0.028,3318,2136,2017
$GC,8014,2.46,158.3,20.7,10.7,472,8020,0.00,2.30,0.00,0.000,4,0.000,0.047,3318,756,2017
$GC,8025,2.46,158.3,19.4,10.8,474,8032,0.00,2.25,0.00,0.000,6,0.000,0.056,3318,2160,2016
$STATE,8172,end climb,SURFACE_DEPTH_REACHED
$STATE,8172,begin surface coast
$FINISH,0.2,1.023350
$STATE,8194,end surface coast,CONTROL_FINISHED_OK
$STATE,8195,begin surface
$SM_CCo,8213,102.05,0.512,0,0,1399,310.06
$SM_GC,1.03,0.00,0.00,102.05,0.000,0.000,0.512,427,2162,1399,-10.82,-1.07,310.06
$IRIDIUM_FIX,2057.14,-15746.61,100797,020205
$TT8_MAMPS,0.028379
$HUMID,1757
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.50
$XPDR_PINGS,540
$24V_AH,23.7,10.708
$10V_AH,10.2,5.386
$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,27.825,80.400,179.825,102.050,0.000,24.543,29.672,312.070,144.000,0.000,0.000,34.607,997.261,5487.137,376.676,1474.884,461.402,33.352,1057.941,0.000,1420.197,0.000,57.441
$DEVICE_MAMPS,158.002,101.244,835.263,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.921,333.097,584.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25442,504
$CAP_FILE_SIZE,86143,9
$CFSIZE,260165632,255549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150408,071351,2102.162,-15747.206,12,1.8,12,9.8