version: 66.03
glider: 139
mission: 2
dive: 71
start: 4 17 108 8 16 7
data:
$ID,139
$MISSION,2
$DIVE,71
$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,-1253519.2
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,080737,2109.589,-15755.197,27,0.9,27,9.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.8
$GPS2,081515,2109.515,-15755.230,12,1.1,12,9.8
$SPEED_LIMITS,0.107,0.281
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.192,0.000
$KALMAN_X,-57692.4,35.7,199.9,52682.1,-1077.8
$KALMAN_Y,-10308.9,-265.0,-60.5,176.3,21.5
$MHEAD_RNG_PITCHd_Wd,80.1,1006,-20.7,-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,-1.40,-83.5,0.0,0.0,0,69,0.00,0.00,-49.97,0.000,2,0.000,0.000,422,2208,2846
$GC,71,-1.40,-85.2,3.5,-8.2,9,95,11.73,2.40,-3.25,0.000,4,0.163,0.048,2465,816,3015
$GC,231,-1.40,-85.2,30.1,-13.5,37,235,0.00,2.28,0.00,0.000,6,0.000,0.021,2465,2219,3016
$GC,560,-1.40,-85.2,70.6,-11.7,68,564,0.00,2.30,0.00,0.000,4,0.000,0.034,2465,3592,3017
$GC,704,-1.40,-85.2,88.4,-13.3,80,711,0.00,2.28,0.00,0.000,6,0.000,0.021,2465,2209,3017
$GC,1029,-1.40,-85.2,127.8,-12.3,111,1033,0.00,2.35,0.00,0.000,4,0.000,0.034,2465,801,3018
$GC,1060,-1.40,-85.2,131.9,-12.4,113,1068,0.00,2.30,0.00,0.000,6,0.000,0.055,2465,2205,3018
$GC,1385,-1.40,-85.2,169.8,-10.1,144,1390,0.00,2.33,0.00,0.000,4,0.000,0.035,2465,3595,3019
$GC,1490,-1.40,-85.2,180.0,-8.6,153,1500,0.00,2.30,0.00,0.000,6,0.000,0.021,2465,2197,3019
$GC,1822,-1.40,-85.2,207.1,-8.6,181,1826,0.00,2.33,0.00,0.000,4,0.000,0.035,2465,804,3020
$GC,1866,-1.40,-85.2,211.1,-9.5,183,1871,0.00,2.28,0.00,0.000,6,0.000,0.021,2465,2192,3020
$GC,2193,-1.40,-85.2,238.9,-8.5,199,2197,0.00,2.35,0.00,0.000,4,0.000,0.038,2465,3588,3020
$GC,2258,-1.40,-85.2,245.0,-9.0,202,2262,0.00,2.30,0.00,0.000,6,0.000,0.043,2465,2201,3020
$GC,2585,-1.42,-101.4,271.7,-7.3,218,2589,0.00,2.33,0.00,0.000,4,0.000,0.037,2465,803,3019
$GC,2645,-1.44,-119.7,276.2,-7.1,220,2652,0.00,2.30,0.00,0.000,6,0.000,0.024,2465,2194,3018
$GC,2960,-1.49,-158.1,295.9,-5.8,236,2964,0.00,2.38,0.00,0.000,4,0.000,0.041,2465,3593,3017
$GC,3066,-1.52,-178.2,303.1,-7.0,240,3070,0.00,2.33,0.00,0.000,6,0.000,0.058,2465,2201,3017
$GC,3379,-1.54,-194.6,324.4,-6.8,248,3383,0.00,2.40,0.00,0.000,4,0.000,0.041,2465,3602,3015
$GC,3451,-1.54,-194.6,330.2,-8.2,249,3455,0.00,2.33,0.00,0.000,6,0.000,0.026,2465,2193,3015
$GC,3781,-1.54,-194.6,353.6,-7.0,257,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2192,3013
$GC,4106,-1.54,-194.6,378.0,-7.9,265,4110,0.00,2.38,0.00,0.000,4,0.000,0.040,2465,797,3011
$GC,4133,-1.54,-194.6,380.4,-9.0,265,4137,0.00,2.33,0.00,0.000,6,0.000,0.028,2465,2212,3011
$GC,4468,-1.54,-194.6,409.3,-8.7,274,4472,0.00,2.38,0.00,0.000,4,0.000,0.046,2465,3597,3009
$GC,4555,-1.54,-194.6,417.4,-9.7,276,4561,0.00,2.35,0.00,0.000,6,0.000,0.062,2465,2204,3009
$GC,4880,-1.54,-194.6,445.0,-8.5,284,4884,0.00,2.42,0.00,0.000,4,0.000,0.047,2465,3603,3007
$STATE,4939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4945,-0.31,0.0,450.3,9.0,285,5018,1.15,0.00,69.40,0.875,6,0.083,0.000,2708,2152,2664
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5021,1.54,194.6,452.2,0.0,287,5192,1.80,2.53,161.07,0.851,4,0.044,0.077,3111,753,1869
$GC,5213,1.54,194.6,438.0,14.5,291,5218,0.00,2.40,0.00,0.000,6,0.000,0.029,3111,2148,1864
$GC,5550,1.54,194.6,387.1,15.1,300,5554,0.00,2.45,0.00,0.000,4,0.000,0.046,3111,3551,1858
$GC,5773,1.54,194.6,350.6,15.8,305,5778,0.00,2.40,0.00,0.000,6,0.000,0.029,3111,2152,1857
$GC,6097,1.54,194.6,303.9,14.1,313,6101,0.00,2.42,0.00,0.000,4,0.000,0.044,3111,3550,1854
$GC,6163,1.54,194.6,294.2,14.2,315,6168,0.00,2.40,0.00,0.000,6,0.000,0.035,3111,2144,1853
$GC,6490,1.54,194.6,249.8,13.2,331,6494,0.00,2.45,0.00,0.000,4,0.000,0.043,3112,3559,1851
$GC,6534,1.54,194.6,243.5,14.9,333,6538,0.00,2.38,0.00,0.000,6,0.000,0.029,3111,2147,1851
$GC,6860,1.54,194.6,204.2,11.2,349,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2146,1850
$GC,7177,1.54,194.6,170.8,10.8,377,7182,0.00,2.40,0.00,0.000,4,0.000,0.041,3111,749,1848
$GC,7434,1.54,194.6,142.4,10.4,399,7442,0.00,2.35,0.00,0.000,6,0.000,0.025,3111,2154,1844
$GC,7760,1.54,194.6,108.8,11.0,430,7764,0.00,2.40,0.00,0.000,4,0.000,0.038,3111,747,1844
$GC,7792,1.54,194.6,104.7,12.7,432,7799,0.00,2.33,0.00,0.000,6,0.000,0.023,3111,2152,1844
$GC,8117,1.54,194.6,68.5,11.0,463,8121,0.00,2.35,0.00,0.000,4,0.000,0.035,3111,3547,1844
$GC,8156,1.54,194.6,64.5,10.2,466,8160,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,2137,1845
$GC,8482,1.54,197.6,39.3,8.1,496,8486,0.00,2.40,0.00,0.000,4,0.000,0.036,3112,3554,1845
$GC,8712,1.54,197.6,18.5,9.3,527,8718,0.00,2.28,0.00,0.000,6,0.000,0.021,3112,2143,1847
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$FINISH,0.1,1.023292
$STATE,8948,end surface coast,CONTROL_FINISHED_OK
$STATE,8948,begin surface
$SM_CCo,8967,80.47,0.518,0,0,1400,310.06
$SM_GC,0.92,0.00,0.00,80.47,0.000,0.000,0.518,429,2240,1400,-10.81,1.13,310.06
$IRIDIUM_FIX,2104.07,-15750.02,120797,050525
$TT8_MAMPS,0.029146
$HUMID,1792
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.30
$XPDR_PINGS,546
$24V_AH,23.6,12.659
$10V_AH,10.2,6.642
$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,26.325,94.450,230.475,80.475,0.000,24.059,30.643,313.693,145.500,0.000,0.000,13.600,1063.552,6155.746,395.404,1416.832,483.460,33.348,1076.594,0.000,1387.316,0.000,57.443
$DEVICE_MAMPS,163.371,77.467,875.147,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.242,380.015,669.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28617,569
$CAP_FILE_SIZE,87408,4
$CFSIZE,260165632,254713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,104756,2109.424,-15754.936,26,1.6,26,9.8