version: 66.03
glider: 139
mission: 2
dive: 64
start: 4 16 108 10 53 12
data:
$ID,139
$MISSION,2
$DIVE,64
$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,-1253410.9
$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,44
$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
$GPS1,104255,2103.211,-15747.713,42,1.1,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.6
$GPS2,105220,2103.266,-15747.697,13,1.0,13,9.8
$SPEED_LIMITS,0.107,0.281
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.185,0.212
$KALMAN_X,-50331.6,483.6,50.6,58013.1,-249.3
$KALMAN_Y,-8480.7,-240.8,196.9,-13506.2,-123.3
$MHEAD_RNG_PITCHd_Wd,309.2,16693,-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,17,-1.06,-194.6,0.0,0.0,0,74,0.00,0.00,-55.40,0.000,2,0.000,0.000,430,2200,2999
$GC,77,-1.06,-194.6,3.7,-7.3,10,106,12.05,2.38,-8.32,0.000,4,0.161,0.080,2540,3587,3460
$GC,359,-1.06,-194.6,46.9,-12.4,48,363,0.00,2.28,0.00,0.000,6,0.000,0.057,2540,2188,3462
$GC,683,-1.06,-194.6,88.5,-12.2,78,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2187,3462
$GC,1003,-1.06,-194.6,125.6,-13.1,108,1007,0.00,2.38,0.00,0.000,4,0.000,0.044,2540,3603,3463
$GC,1058,-1.06,-194.6,132.5,-11.6,112,1065,0.00,2.30,0.00,0.000,6,0.000,0.020,2540,2202,3463
$GC,1383,-1.06,-194.6,162.3,-8.4,143,1387,0.00,2.33,0.00,0.000,4,0.000,0.034,2540,807,3463
$GC,1414,-1.06,-194.6,165.1,-8.5,145,1421,0.00,2.28,0.00,0.000,6,0.000,0.020,2541,2202,3463
$GC,1739,-1.06,-194.6,192.7,-7.3,176,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2204,3464
$GC,2052,-1.06,-194.6,218.7,-7.9,195,2056,0.00,2.35,0.00,0.000,4,0.000,0.035,2540,803,3464
$GC,2091,-1.06,-194.6,221.8,-7.9,197,2095,0.00,2.28,0.00,0.000,6,0.000,0.052,2540,2205,3464
$GC,2416,-1.06,-194.6,243.7,-7.9,213,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2208,3465
$GC,2726,-1.06,-194.6,262.7,-5.5,228,2730,0.00,2.35,0.00,0.000,4,0.000,0.037,2540,808,3464
$GC,2780,-1.06,-194.6,266.3,-7.1,230,2787,0.00,2.28,0.00,0.000,6,0.000,0.024,2540,2190,3464
$GC,3095,-1.06,-194.6,292.1,-9.0,246,3099,0.00,2.38,0.00,0.000,4,0.000,0.041,2540,3589,3462
$GC,3134,-1.06,-194.6,295.8,-10.0,248,3138,0.00,2.28,0.00,0.000,6,0.000,0.025,2540,2196,3462
$GC,3477,-1.06,-194.6,320.9,-6.4,258,3481,0.00,2.38,0.00,0.000,4,0.000,0.041,2540,3590,3461
$GC,3503,-1.06,-194.6,322.5,-6.3,258,3508,0.00,2.30,0.00,0.000,6,0.000,0.025,2540,2204,3461
$GC,3840,-1.06,-194.6,342.6,-6.0,267,3844,0.00,2.38,0.00,0.000,4,0.000,0.040,2540,804,3459
$GC,3878,-1.06,-194.6,345.2,-7.1,268,3882,0.00,2.30,0.00,0.000,6,0.000,0.027,2540,2196,3459
$GC,4201,-1.06,-194.6,366.6,-6.7,276,4205,0.00,2.40,0.00,0.000,4,0.000,0.044,2540,3597,3456
$GC,4233,-1.06,-194.6,369.3,-8.4,276,4240,0.00,2.33,0.00,0.000,6,0.000,0.026,2540,2205,3457
$GC,4565,-1.06,-194.6,390.3,-5.6,285,4569,0.00,2.40,0.00,0.000,4,0.000,0.041,2540,796,3455
$GC,4596,-1.06,-194.6,392.1,-5.9,285,4603,0.00,2.38,0.00,0.000,6,0.000,0.035,2540,2202,3455
$GC,4928,-1.06,-194.6,413.6,-6.7,294,4932,0.00,2.40,0.00,0.000,4,0.000,0.041,2540,799,3452
$GC,4976,-1.06,-194.6,417.1,-6.9,295,4981,0.00,2.35,0.00,0.000,6,0.000,0.064,2539,2190,3452
$GC,5295,-1.06,-194.6,437.3,-6.1,303,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2191,3450
$STATE,5539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5539,begin apogee
$GC,5543,-0.31,0.0,451.9,6.2,309,5703,0.80,0.00,157.10,0.874,6,0.068,0.000,2712,2191,2664
$STATE,5704,end apogee,CONTROL_FINISHED_OK
$STATE,5704,begin climb
$GC,5706,1.06,194.6,458.7,0.0,313,5874,0.03,2.55,160.62,0.847,4,0.151,0.075,2699,755,1868
$GC,6088,1.17,281.0,440.4,5.9,322,6170,1.10,2.35,74.00,0.835,6,0.079,0.030,2958,2154,1518
$GC,6494,1.20,304.8,411.5,7.7,332,6523,0.32,2.55,21.08,0.805,4,0.042,0.054,3041,753,1421
$GC,6673,1.20,304.8,385.8,15.8,336,6678,0.00,2.38,0.00,0.000,6,0.000,0.058,3041,2145,1414
$GC,6997,1.20,304.8,340.3,13.5,344,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2148,1413
$GC,7322,1.20,304.8,299.0,13.2,352,7326,0.00,2.42,0.00,0.000,4,0.000,0.053,3041,755,1412
$GC,7354,1.20,304.8,294.2,15.0,353,7361,0.00,2.38,0.00,0.000,6,0.000,0.029,3041,2154,1410
$GC,7670,1.20,304.8,252.9,13.1,369,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2157,1410
$GC,7979,1.20,304.8,212.4,12.8,384,7983,0.00,2.42,0.00,0.000,4,0.000,0.043,3041,750,1410
$GC,8073,1.20,304.8,200.2,12.3,388,8078,0.00,2.35,0.00,0.000,6,0.000,0.049,3041,2157,1408
$GC,8404,1.20,304.8,165.2,10.6,419,8408,0.00,2.38,0.00,0.000,4,0.000,0.038,3041,3552,1408
$GC,8443,1.20,304.8,160.7,11.1,422,8447,0.00,2.33,0.00,0.000,6,0.000,0.060,3041,2153,1408
$GC,8773,1.20,304.8,124.6,10.8,453,8777,0.00,2.40,0.00,0.000,4,0.000,0.040,3041,742,1408
$GC,8923,1.20,304.8,108.4,10.5,466,8930,0.00,2.35,0.00,0.000,6,0.000,0.030,3041,2157,1406
$GC,9250,1.20,304.8,73.0,10.3,497,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2162,1406
$GC,9567,1.20,304.8,40.6,10.5,527,9570,0.00,2.38,0.00,0.000,4,0.000,0.036,3041,749,1407
$GC,9633,1.20,304.8,33.7,10.0,533,9638,0.00,2.28,0.00,0.000,6,0.000,0.021,3041,2156,1407
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9951,begin surface coast
$FINISH,0.0,1.012207
$STATE,9979,end surface coast,CONTROL_FINISHED_OK
$STATE,9979,begin surface
$SM_CCo,9997,3.03,0.287,0,0,1399,310.06
$SM_GC,1.93,0.00,0.00,3.03,0.000,0.000,0.287,428,2158,1399,-10.82,-1.19,310.06
$IRIDIUM_FIX,2054.83,-15749.62,110797,101001
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.40
$XPDR_PINGS,557
$24V_AH,23.6,11.829
$10V_AH,10.2,6.138
$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,25.625,84.925,412.800,3.025,0.000,53.450,59.429,296.986,148.250,0.000,0.000,15.147,1090.077,7070.205,476.652,1418.183,518.821,33.360,1172.001,0.000,1382.176,0.000,57.441
$DEVICE_MAMPS,161.070,79.768,874.380,286.858,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.344,375.376,654.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28542,591
$CAP_FILE_SIZE,90185,10
$CFSIZE,260165632,255029248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160408,134108,2104.464,-15749.100,40,1.2,40,9.8