version: 66.03
glider: 139
mission: 2
dive: 143
start: 4 27 108 11 57 2
data:
$ID,139
$MISSION,2
$DIVE,143
$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,220
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-1254714.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,40
$R_STBD_OVSHOOT,56
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,114937,2103.252,-15745.727,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.2
$GPS2,115609,2103.306,-15745.720,9,1.8,9,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.093,-0.073
$KALMAN_X,-154515.9,983.2,421.8,164722.0,-928.7
$KALMAN_Y,-60307.0,620.7,633.9,37077.7,-922.6
$MHEAD_RNG_PITCHd_Wd,222.1,2815,-27.5,-6.818
$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,-1.76,-34.9,0.0,0.0,0,69,0.00,0.00,-48.00,0.000,6,0.000,0.000,430,2152,2808
$GC,71,-1.76,-36.3,3.5,-6.6,9,89,11.10,2.25,0.00,0.000,4,0.159,0.032,2382,794,2809
$GC,253,-1.76,-36.3,38.9,-16.1,36,257,0.00,2.28,0.00,0.000,6,0.000,0.055,2382,2201,2811
$GC,578,-1.76,-36.3,92.5,-15.5,66,582,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,3590,2811
$GC,741,-1.76,-36.3,116.6,-13.2,80,745,0.00,2.28,0.00,0.000,6,0.000,0.049,2382,2191,2812
$GC,1067,-1.76,-36.3,158.0,-14.2,110,1071,0.00,2.33,0.00,0.000,4,0.000,0.068,2382,797,2813
$GC,1128,-1.76,-36.3,167.1,-15.1,115,1132,0.00,2.28,0.00,0.000,6,0.000,0.055,2382,2208,2813
$GC,1465,-1.76,-36.3,202.7,-10.4,145,1469,0.00,2.33,0.00,0.000,4,0.000,0.040,2382,3595,2814
$GC,1721,-1.76,-36.3,230.1,-11.9,156,1728,0.00,2.30,0.00,0.000,6,0.000,0.021,2382,2197,2814
$GC,2036,-1.76,-36.3,261.3,-9.8,172,2040,0.00,2.35,0.00,0.000,4,0.000,0.037,2382,3588,2814
$GC,2293,-1.76,-36.3,291.2,-12.8,183,2300,0.00,2.30,0.00,0.000,6,0.000,0.032,2382,2205,2813
$GC,2625,-1.76,-36.3,328.2,-10.2,194,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2203,2812
$GC,2950,-1.76,-36.3,352.5,-6.8,202,2954,0.00,2.38,0.00,0.000,4,0.000,0.041,2382,3594,2810
$GC,3073,-1.76,-36.3,361.6,-7.5,204,3079,0.00,2.33,0.00,0.000,6,0.000,0.025,2382,2202,2810
$GC,3404,-1.76,-36.3,386.9,-8.3,213,3408,0.00,2.38,0.00,0.000,4,0.000,0.042,2382,3586,2808
$GC,3424,-1.76,-36.3,388.7,-8.7,213,3429,0.00,2.33,0.00,0.000,6,0.000,0.025,2382,2197,2808
$GC,3767,-1.76,-36.3,416.4,-8.1,222,3771,0.00,2.40,0.00,0.000,4,0.000,0.044,2382,3592,2806
$GC,3861,-1.76,-36.3,424.4,-8.5,224,3865,0.00,2.33,0.00,0.000,6,0.000,0.062,2382,2197,2805
$GC,4179,-1.77,-41.0,448.1,-6.2,232,4183,0.00,2.40,0.00,0.000,4,0.000,0.044,2382,3586,2803
$STATE,4206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4206,begin apogee
$GC,4213,-0.31,0.0,450.1,7.3,232,4245,1.52,0.00,29.17,0.867,6,0.094,0.000,2696,2146,2664
$STATE,4246,end apogee,CONTROL_FINISHED_OK
$STATE,4246,begin climb
$GC,4248,1.77,41.0,451.0,0.0,233,4291,2.03,2.53,34.58,0.845,4,0.046,0.049,3159,744,2496
$GC,4392,1.78,51.8,445.3,5.4,236,4407,0.00,2.35,10.40,0.780,6,0.000,0.028,3159,2142,2452
$GC,4743,1.81,76.1,427.4,3.7,245,4769,0.00,2.50,20.95,0.835,4,0.000,0.079,3159,3550,2352
$GC,5021,1.81,76.1,405.9,7.9,251,5025,0.00,2.38,0.00,0.000,6,0.000,0.033,3159,2157,2350
$GC,5334,1.81,76.1,380.9,8.1,259,5338,0.00,2.42,0.00,0.000,4,0.000,0.078,3159,3547,2347
$GC,5590,1.81,76.1,356.3,10.3,264,5597,0.00,2.38,0.00,0.000,6,0.000,0.061,3159,2153,2346
$GC,5922,1.81,76.1,328.8,8.0,273,5926,0.00,2.42,0.00,0.000,4,0.000,0.044,3159,3548,2344
$GC,6179,1.81,76.7,310.6,6.7,278,6185,0.00,2.38,0.00,0.000,6,0.000,0.034,3159,2147,2344
$GC,6492,1.82,84.0,290.7,5.9,290,6503,0.00,2.45,6.30,0.680,4,0.000,0.043,3159,3551,2320
$GC,6755,1.84,99.8,276.8,4.8,302,6777,0.00,2.35,14.25,0.755,6,0.000,0.061,3159,2143,2255
$GC,7085,1.85,108.8,259.1,5.7,318,7099,0.00,2.45,8.73,0.696,4,0.000,0.043,3159,755,2219
$GC,7352,1.85,108.8,237.2,8.6,330,7357,0.00,2.33,0.00,0.000,6,0.000,0.027,3159,2154,2217
$GC,7678,1.85,109.7,215.3,6.7,346,7682,0.00,2.40,0.00,0.000,4,0.000,0.039,3159,746,2217
$GC,7935,1.85,109.7,193.6,7.7,360,7940,0.00,2.33,0.00,0.000,6,0.000,0.025,3159,2152,2217
$GC,8262,1.86,119.1,170.1,5.6,390,8276,0.00,2.25,9.68,0.636,4,0.000,0.073,3159,3477,2178
$GC,8299,1.87,127.2,167.8,5.8,393,8316,0.00,2.22,8.35,0.607,6,0.000,0.023,3159,2147,2144
$GC,8635,1.87,127.2,146.8,6.9,425,8639,0.00,1.98,0.00,0.000,4,0.000,0.075,3159,3335,2144
$GC,8785,1.87,127.2,133.7,8.3,438,8792,0.00,1.98,0.00,0.000,6,0.000,0.023,3159,2147,2144
$GC,9113,1.87,127.2,107.4,7.8,469,9117,0.00,2.35,0.00,0.000,4,0.000,0.036,3159,757,2144
$GC,9320,1.90,149.1,95.6,4.0,487,9346,0.10,2.28,19.52,0.598,6,0.058,0.021,3189,2163,2055
$GC,9671,1.91,159.4,71.1,5.5,520,9686,0.00,2.38,9.82,0.535,4,0.000,0.069,3188,3540,2013
$GC,9940,1.91,159.4,48.6,9.2,544,9944,0.00,2.28,0.00,0.000,6,0.000,0.021,3188,2138,2013
$GC,10270,1.91,159.4,19.3,7.7,585,10277,0.00,2.35,0.00,0.000,4,0.000,0.032,3189,3546,2013
$STATE,10466,end climb,SURFACE_DEPTH_REACHED
$STATE,10467,begin surface coast
$FINISH,0.2,1.023262
$STATE,10507,end surface coast,CONTROL_FINISHED_OK
$STATE,10507,begin surface
$SM_CCo,10529,122.93,0.522,0,0,1400,310.06
$SM_GC,0.69,0.00,0.00,122.93,0.000,0.000,0.522,426,2197,1400,-10.78,-0.08,310.06
$IRIDIUM_FIX,2054.83,-15744.48,220797,080836
$TT8_MAMPS,0.029146
$HUMID,1746
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.60
$XPDR_PINGS,693
$24V_AH,23.7,22.302
$10V_AH,10.2,12.242
$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,26.675,97.875,171.750,122.925,0.000,24.574,38.830,217.690,173.250,0.000,0.000,10.988,1210.366,7210.221,387.364,1804.998,422.288,33.397,1226.417,0.000,1788.932,0.000,0.472
$DEVICE_MAMPS,158.769,79.001,867.477,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.217,414.206,706.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31725,627
$CAP_FILE_SIZE,97100,9
$CFSIZE,260165632,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,145538,2102.948,-15745.992,28,1.1,28,9.8