version: 66.03
glider: 139
mission: 2
dive: 63
start: 4 16 108 7 43 19
data:
$ID,139
$MISSION,2
$DIVE,63
$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,180
$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,-1253395.1
$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,45
$R_STBD_OVSHOOT,60
$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
$GPS1,072910,2102.079,-15746.567,31,1.8,31,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.5
$GPS2,074227,2102.063,-15746.582,12,1.3,12,9.8
$SPEED_LIMITS,0.107,0.281
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.203,0.194
$KALMAN_X,-51161.1,244.0,833.3,60222.5,-120.6
$KALMAN_Y,-8502.6,-282.6,135.1,-15606.4,204.5
$MHEAD_RNG_PITCHd_Wd,303.9,19628,-13.1,-8.333
$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,-1.06,-194.6,0.0,0.0,0,68,0.00,0.00,-49.40,0.000,2,0.000,0.000,422,2219,2821
$GC,70,-1.06,-194.6,3.5,-8.0,9,100,12.15,2.35,-12.20,0.000,4,0.164,0.077,2538,3580,3459
$GC,323,-1.06,-194.6,39.7,-12.6,47,331,0.00,2.28,0.00,0.000,6,0.000,0.020,2538,2201,3461
$GC,649,-1.06,-194.6,80.9,-11.9,78,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2199,3461
$GC,969,-1.06,-194.6,115.0,-10.5,108,973,0.00,2.33,0.00,0.000,4,0.000,0.068,2538,3580,3462
$GC,1086,-1.06,-194.6,127.2,-10.3,118,1090,0.00,2.25,0.00,0.000,6,0.000,0.021,2538,2192,3463
$GC,1410,-1.06,-194.6,154.5,-7.1,148,1414,0.00,2.33,0.00,0.000,4,0.000,0.035,2538,802,3463
$GC,1453,-1.06,-194.6,157.6,-6.8,151,1460,0.00,2.25,0.00,0.000,6,0.000,0.038,2538,2191,3463
$GC,1779,-1.06,-194.6,183.8,-8.3,182,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2194,3463
$GC,2093,-1.06,-194.6,211.2,-8.4,206,2097,0.00,2.35,0.00,0.000,4,0.000,0.037,2538,3590,3463
$GC,2131,-1.06,-194.6,214.5,-9.0,208,2135,0.00,2.28,0.00,0.000,6,0.000,0.022,2538,2191,3463
$GC,2463,-1.06,-194.6,238.7,-6.3,224,2467,0.00,2.33,0.00,0.000,4,0.000,0.037,2538,807,3463
$GC,2517,-1.06,-194.6,242.4,-6.3,226,2524,0.00,2.28,0.00,0.000,6,0.000,0.023,2538,2187,3463
$GC,2833,-1.06,-194.6,262.4,-6.2,242,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2187,3462
$GC,3143,-1.06,-194.6,282.6,-6.8,257,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2189,3461
$GC,3471,-1.06,-194.6,306.0,-7.2,271,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2189,3460
$GC,3797,-1.06,-194.6,332.1,-8.1,279,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2190,3458
$GC,4121,-1.06,-194.6,354.9,-6.3,287,4125,0.00,2.40,0.00,0.000,4,0.000,0.044,2538,3590,3456
$GC,4164,-1.06,-194.6,357.6,-6.4,288,4168,0.00,2.30,0.00,0.000,6,0.000,0.026,2538,2211,3456
$GC,4490,-1.06,-194.6,377.1,-6.2,296,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2210,3454
$GC,4813,-1.06,-194.6,398.9,-6.6,304,4818,0.00,2.38,0.00,0.000,4,0.000,0.046,2538,3590,3453
$GC,4840,-1.06,-194.6,400.6,-6.5,304,4845,0.00,2.33,0.00,0.000,6,0.000,0.028,2538,2204,3453
$GC,5179,-1.06,-194.6,421.7,-6.4,313,5183,0.00,2.40,0.00,0.000,4,0.000,0.043,2538,798,3450
$GC,5228,-1.06,-194.6,425.1,-6.8,314,5233,0.00,2.35,0.00,0.000,6,0.000,0.035,2538,2185,3450
$GC,5547,-1.06,-194.6,444.5,-6.2,322,5551,0.00,2.38,0.00,0.000,4,0.000,0.044,2537,801,3449
$GC,5573,-1.06,-194.6,446.0,-5.9,322,5577,0.00,2.38,0.00,0.000,6,0.000,0.031,2538,2203,3448
$STATE,5666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5666,begin apogee
$GC,5671,-0.31,0.0,450.9,5.2,325,5831,0.80,0.00,156.70,0.872,6,0.067,0.000,2710,2135,2664
$STATE,5831,end apogee,CONTROL_FINISHED_OK
$STATE,5832,begin climb
$GC,5833,1.06,194.6,456.0,0.0,329,5998,1.33,0.00,160.90,0.843,6,0.100,0.000,3013,2134,1870
$GC,6319,1.06,194.6,407.9,11.4,341,6323,0.00,2.50,0.00,0.000,4,0.000,0.047,3013,3556,1860
$GC,6351,1.06,194.6,404.2,11.5,341,6358,0.00,2.40,0.00,0.000,6,0.000,0.030,3013,2162,1860
$GC,6682,1.06,194.6,369.0,10.7,350,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,1857
$GC,7007,1.06,194.6,334.5,10.5,358,7011,0.00,2.42,0.00,0.000,4,0.000,0.045,3013,3554,1856
$GC,7073,1.06,194.6,327.4,11.4,359,7078,0.00,2.40,0.00,0.000,6,0.000,0.064,3013,2152,1856
$GC,7417,1.11,231.9,299.7,7.3,368,7453,0.00,2.50,30.85,0.782,4,0.000,0.048,3013,3560,1717
$GC,7485,1.11,231.9,293.7,9.6,370,7490,0.00,2.42,0.00,0.000,6,0.000,0.028,3013,2149,1717
$GC,7806,1.11,231.9,262.1,10.2,386,7810,0.00,2.42,0.00,0.000,4,0.000,0.077,3013,748,1712
$GC,7872,1.11,231.9,254.8,10.5,389,7877,0.00,2.38,0.00,0.000,6,0.000,0.028,3013,2155,1708
$GC,8199,1.11,231.9,225.3,9.0,405,8203,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,742,1708
$GC,8270,1.11,231.9,218.9,8.7,408,8274,0.00,2.38,0.00,0.000,6,0.000,0.057,3013,2151,1706
$GC,8593,1.11,231.9,192.3,9.4,427,8597,0.00,2.42,0.00,0.000,4,0.000,0.041,3013,745,1706
$GC,8624,1.11,231.9,188.9,10.2,429,8631,0.00,2.35,0.00,0.000,6,0.000,0.032,3013,2148,1705
$GC,8951,1.11,237.8,161.0,8.2,460,8963,0.00,2.42,4.45,0.492,4,0.000,0.039,3013,739,1693
$GC,9012,1.11,237.8,155.2,9.4,465,9019,0.00,2.38,0.00,0.000,6,0.000,0.058,3013,2157,1692
$GC,9338,1.14,259.3,127.5,7.7,496,9363,0.00,2.45,20.40,0.621,4,0.000,0.074,3013,746,1606
$GC,9425,1.14,262.5,120.4,8.2,503,9432,0.00,2.30,0.00,0.000,6,0.000,0.023,3013,2164,1601
$GC,9750,1.21,318.2,94.0,6.7,534,9808,0.12,2.35,51.55,0.594,4,0.053,0.040,3050,3540,1366
$GC,9875,1.21,318.2,82.8,9.4,545,9880,0.00,2.33,0.00,0.000,6,0.000,0.023,3050,2133,1364
$GC,10200,1.21,318.2,45.8,12.3,575,10204,0.00,2.33,0.00,0.000,4,0.000,0.037,3049,754,1360
$GC,10242,1.21,318.2,40.2,12.7,578,10250,0.00,2.30,0.00,0.000,6,0.000,0.020,3050,2155,1358
$GC,10580,1.21,318.2,4.4,10.4,630,10587,0.00,2.38,0.00,0.000,4,0.000,0.036,3049,753,1358
$STATE,10591,end climb,SURFACE_DEPTH_REACHED
$STATE,10591,begin surface coast
$FINISH,0.1,1.023304
$STATE,10620,end surface coast,CONTROL_FINISHED_OK
$STATE,10620,begin surface
$SM_CCo,10701,0.00,0.000,0,0,1353,321.59
$SM_GC,1.04,11.35,0.00,0.00,0.034,0.000,0.000,430,2199,1353,-10.75,-0.03,321.59
$IRIDIUM_FIX,2052.52,-15819.63,110797,070737
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.60
$XPDR_PINGS,587
$24V_AH,23.6,11.690
$10V_AH,10.2,6.069
$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,25.750,94.625,424.850,0.000,0.000,71.022,181.586,331.159,155.750,0.000,0.000,14.058,1142.511,7749.070,510.366,1399.880,704.957,33.352,1195.407,0.000,1373.982,0.000,57.429
$DEVICE_MAMPS,164.138,76.700,872.079,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.581,411.430,711.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31607,637
$CAP_FILE_SIZE,94872,8
$CFSIZE,260165632,255070208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160408,104255,2103.211,-15747.713,42,1.1,42,9.8