version: 66.03
glider: 139
mission: 2
dive: 100
start: 4 21 108 8 35 44
data:
$ID,139
$MISSION,2
$DIVE,100
$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,210
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1254028.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2770
$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,49
$R_STBD_OVSHOOT,83
$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
$GPS1,082725,2103.027,-15746.462,24,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.1
$GPS2,083451,2103.040,-15746.419,15,1.6,15,9.8
$SPEED_LIMITS,0.091,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.072,-0.057
$KALMAN_X,-103287.1,731.2,337.7,112635.7,-1643.3
$KALMAN_Y,-27295.4,460.6,378.4,3993.9,-759.1
$MHEAD_RNG_PITCHd_Wd,118.6,1635,-36.0,-7.143
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.28,-22.2,0.0,0.0,0,69,0.00,0.00,-47.03,0.000,6,0.000,0.000,427,2237,2755
$GC,71,-2.28,-24.5,3.4,-6.7,9,89,10.65,2.42,0.00,0.000,4,0.166,0.031,2266,804,2758
$GC,123,-2.28,-24.5,17.7,-26.3,18,129,0.00,2.22,0.00,0.000,6,0.000,0.021,2267,2166,2758
$GC,457,-2.28,-24.5,87.6,-19.4,54,461,0.00,2.38,0.00,0.000,4,0.000,0.031,2267,3593,2759
$GC,713,-2.28,-24.5,134.8,-18.6,76,720,0.00,2.28,0.00,0.000,6,0.000,0.020,2267,2205,2760
$GC,1038,-2.28,-24.5,184.4,-12.7,107,1042,0.00,2.33,0.00,0.000,4,0.000,0.033,2267,3594,2762
$GC,1294,-2.28,-24.5,218.7,-13.4,123,1301,0.00,2.30,0.00,0.000,6,0.000,0.021,2266,2198,2763
$GC,1610,-2.28,-24.5,253.8,-11.3,139,1614,0.00,2.35,0.00,0.000,4,0.000,0.035,2267,3593,2763
$GC,1666,-2.28,-24.5,260.3,-11.9,141,1672,0.00,2.28,0.00,0.000,6,0.000,0.022,2267,2194,2763
$GC,1982,-2.28,-24.5,291.6,-9.9,157,1986,0.00,2.38,0.00,0.000,4,0.000,0.038,2267,3597,2763
$GC,2238,-2.28,-24.5,324.6,-13.3,164,2245,0.00,2.33,0.00,0.000,6,0.000,0.024,2267,2201,2762
$GC,2569,-2.28,-24.5,359.7,-9.9,173,2574,0.00,2.38,0.00,0.000,4,0.000,0.039,2267,3593,2760
$GC,2825,-2.28,-24.5,381.3,-8.3,178,2831,0.00,2.33,0.00,0.000,6,0.000,0.025,2267,2201,2760
$GC,3163,-2.28,-24.5,411.1,-9.6,187,3167,0.00,2.38,0.00,0.000,4,0.000,0.041,2267,3587,2757
$GC,3419,-2.28,-24.5,437.9,-10.0,192,3426,0.00,2.35,0.00,0.000,6,0.000,0.047,2267,2199,2756
$STATE,3547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3547,begin apogee
$GC,3551,-0.31,0.0,450.3,9.9,196,3575,2.17,0.00,19.67,0.836,6,0.110,0.000,2696,2140,2664
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3577,2.28,24.5,450.3,0.0,196,3607,2.50,2.45,21.35,0.819,4,0.043,0.073,3272,766,2564
$GC,3859,2.31,46.9,443.1,2.3,202,3886,0.00,2.33,19.55,0.829,6,0.000,0.062,3272,2139,2471
$GC,4210,2.31,46.9,416.8,8.8,211,4214,0.00,2.38,0.00,0.000,4,0.000,0.074,3273,760,2469
$GC,4466,2.32,58.1,400.7,4.7,216,4481,0.00,2.35,9.80,0.772,6,0.000,0.029,3273,2149,2426
$GC,4801,2.33,65.4,381.9,5.6,225,4814,0.00,2.45,7.28,0.726,4,0.000,0.073,3272,761,2396
$GC,4889,2.34,71.9,376.9,5.8,227,4902,0.00,2.33,6.72,0.716,6,0.000,0.029,3272,2150,2371
$GC,5216,2.34,71.9,355.2,7.5,235,5220,0.00,2.42,0.00,0.000,4,0.000,0.081,3272,3553,2369
$GC,5472,2.34,71.9,334.8,7.4,240,5479,0.00,2.38,0.00,0.000,6,0.000,0.038,3272,2156,2368
$GC,5804,2.34,75.2,312.1,6.4,249,5813,0.00,2.45,3.85,0.535,4,0.000,0.076,3272,3540,2357
$GC,6027,2.35,82.9,297.5,5.5,255,6041,0.00,2.33,8.12,0.713,6,0.000,0.028,3272,2147,2324
$GC,6358,2.36,89.8,278.0,5.7,271,6371,0.00,2.50,7.00,0.676,4,0.000,0.043,3272,3549,2297
$GC,6461,2.36,89.8,270.4,7.4,275,6468,0.00,2.35,0.00,0.000,6,0.000,0.028,3273,2158,2296
$GC,6777,2.36,92.7,249.3,6.5,291,6786,0.00,2.45,3.83,0.503,4,0.000,0.077,3273,758,2285
$GC,7039,2.37,96.2,227.3,6.4,302,7050,0.00,2.33,4.72,0.559,6,0.000,0.027,3273,2146,2270
$GC,7378,2.37,96.2,206.0,8.1,319,7382,0.00,2.38,0.00,0.000,4,0.000,0.038,3273,752,2270
$GC,7517,2.37,101.8,196.3,5.9,328,7529,0.00,2.33,5.95,0.591,6,0.000,0.029,3272,2157,2249
$GC,7846,2.37,101.8,175.3,7.8,359,7850,0.00,2.38,0.00,0.000,4,0.000,0.039,3272,3553,2248
$GC,8103,2.38,104.3,156.9,6.6,381,8113,0.00,2.35,4.25,0.483,6,0.000,0.024,3272,2142,2237
$GC,8439,2.39,116.3,141.2,4.6,413,8455,0.00,2.38,11.35,0.618,4,0.000,0.040,3273,754,2187
$GC,8511,2.40,122.2,137.3,5.9,419,8523,0.00,2.30,6.25,0.543,6,0.000,0.024,3272,2156,2165
$GC,8840,2.40,122.2,114.9,7.8,450,8844,0.00,2.33,0.00,0.000,4,0.000,0.035,3273,3547,2164
$GC,9098,2.42,139.8,100.4,3.4,473,9121,0.10,2.28,15.75,0.592,6,0.072,0.021,3297,2140,2094
$GC,9437,2.42,139.8,77.4,7.3,505,9441,0.00,2.35,0.00,0.000,4,0.000,0.033,3297,3544,2093
$GC,9695,2.42,141.3,60.3,6.8,528,9699,0.00,2.25,0.00,0.000,6,0.000,0.020,3297,2150,2093
$GC,10020,2.43,150.0,41.1,5.3,558,10034,0.00,2.33,10.40,0.502,4,0.000,0.066,3297,760,2050
$GC,10220,2.43,150.0,21.8,10.8,582,10227,0.00,1.95,0.00,0.000,6,0.000,0.055,3297,2017,2049
$STATE,10400,end climb,SURFACE_DEPTH_REACHED
$STATE,10400,begin surface coast
$FINISH,0.5,1.023323
$STATE,10423,end surface coast,CONTROL_FINISHED_OK
$STATE,10423,begin surface
$SM_CCo,10443,129.15,0.513,0,0,1400,310.06
$SM_GC,0.88,0.00,0.00,129.15,0.000,0.000,0.513,433,2229,1400,-10.75,0.82,310.06
$IRIDIUM_FIX,2054.83,-15744.48,160797,050524
$TT8_MAMPS,0.029146
$HUMID,1724
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.80
$XPDR_PINGS,684
$24V_AH,23.7,16.543
$10V_AH,10.2,8.869
$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,28.350,94.000,165.850,129.150,0.000,23.543,26.499,284.381,180.000,0.000,0.000,16.891,1224.345,7011.152,397.782,1912.841,466.096,33.360,1270.123,0.000,1866.429,0.000,57.443
$DEVICE_MAMPS,166.439,156.468,836.030,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.965,404.465,699.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31825,618
$CAP_FILE_SIZE,104775,8
$CFSIZE,260165632,253272064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210408,113307,2102.430,-15746.283,35,0.9,35,9.8