version: 66.03
glider: 139
mission: 2
dive: 200
start: 5 6 108 2 16 46
data:
$ID,139
$MISSION,2
$DIVE,200
$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,543.09418
$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,-1258923.4
$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,41
$R_STBD_OVSHOOT,81
$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
$GPS1,015357,2117.601,-15751.339,48,2.9,67,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-3.5
$GPS2,021554,2117.615,-15751.330,364,5.1,496,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.160
$KALMAN_X,-233238.9,208.8,-362.6,235365.6,-3136.4
$KALMAN_Y,-62162.2,3118.7,4497.1,58903.9,4351.9
$MHEAD_RNG_PITCHd_Wd,120.0,29349,-11.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.92,-175.2,0.0,0.0,0,148,0.00,0.00,-125.30,0.000,6,0.000,0.000,424,2142,3379
$GC,151,-0.92,-175.2,0.4,0.2,25,168,9.32,2.42,0.00,0.000,4,0.044,0.045,2575,3553,3379
$GC,422,-0.92,-175.2,0.5,-0.0,73,428,0.00,2.17,0.00,0.000,6,0.000,0.021,2575,2154,3379
$GC,766,-0.92,-175.2,0.6,-0.1,134,772,0.00,2.38,0.00,0.000,4,0.000,0.044,2575,3552,3379
$GC,1024,-0.92,-175.2,0.5,0.0,180,1030,0.00,2.10,0.00,0.000,6,0.000,0.020,2575,2199,3379
$GC,1368,-0.92,-175.2,0.6,-0.1,241,1374,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3553,3379
$GC,1628,-0.92,-175.2,0.6,0.0,287,1634,0.00,2.10,0.00,0.000,6,0.000,0.020,2575,2198,3379
$GC,1973,-0.92,-175.2,0.6,-0.1,348,1979,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3556,3379
$GC,2231,-0.92,-175.2,0.6,-0.1,394,2238,0.00,2.15,0.00,0.000,6,0.000,0.020,2575,2199,3380
$GC,2575,-0.92,-175.2,0.5,0.0,455,2581,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3555,3380
$GC,2836,-0.92,-175.2,0.5,0.1,501,2842,0.00,2.10,0.00,0.000,6,0.000,0.019,2575,2196,3380
$GC,3179,-0.92,-175.2,0.4,0.1,562,3185,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3555,3380
$GC,3438,-0.92,-175.2,0.5,0.0,608,3444,0.00,2.10,0.00,0.000,6,0.000,0.019,2575,2201,3380
$GC,3781,-0.92,-175.2,0.6,-0.4,669,3787,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3556,3381
$GC,4041,-0.92,-175.2,0.6,-0.2,715,4046,0.00,2.10,0.00,0.000,6,0.000,0.019,2575,2199,3381
$GC,4384,-0.92,-175.2,0.6,-0.0,776,4390,0.00,2.30,0.00,0.000,4,0.000,0.044,2575,3554,3381
$GC,4643,-0.92,-175.2,0.6,-0.2,822,4649,0.00,2.12,0.00,0.000,6,0.000,0.019,2575,2208,3381
$GC,4987,-0.92,-175.2,0.5,-0.1,883,4993,0.00,2.28,0.00,0.000,4,0.000,0.044,2575,3552,3382
$GC,5246,-0.92,-175.2,0.6,-0.3,929,5252,0.00,2.10,0.00,0.000,6,0.000,0.018,2575,2165,3382
$GC,5590,-0.92,-175.2,0.6,-0.0,990,5596,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,3566,3382
$GC,5849,-0.92,-175.2,0.5,-0.0,1036,5855,0.00,2.08,0.00,0.000,6,0.000,0.018,2575,2194,3382
$GC,6192,-0.92,-175.2,0.5,0.1,1097,6198,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3382
$GC,6451,-0.92,-175.2,0.6,0.1,1143,6457,0.00,2.05,0.00,0.000,6,0.000,0.018,2575,2198,3382
$GC,6795,-0.92,-175.2,0.6,-0.1,1204,6801,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3382
$GC,7053,-0.92,-175.2,0.7,0.1,1250,7060,0.00,2.10,0.00,0.000,6,0.000,0.018,2575,2198,3382
$GC,7397,-0.92,-175.2,0.6,0.1,1311,7403,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3383
$GC,7658,-0.92,-175.2,0.7,0.0,1357,7664,0.00,2.05,0.00,0.000,6,0.000,0.018,2575,2201,3383
$GC,8002,-0.92,-175.2,0.6,0.1,1418,8008,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3383
$GC,8261,-0.92,-175.2,0.7,-0.1,1464,8267,0.00,2.05,0.00,0.000,6,0.000,0.018,2575,2202,3383
$GC,8604,-0.92,-175.2,0.6,-0.0,1525,8610,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3383
$GC,8865,-0.92,-175.2,0.6,0.1,1571,8871,0.00,2.05,0.00,0.000,6,0.000,0.018,2575,2201,3383
$GC,9208,-0.92,-175.2,0.7,0.0,1632,9214,0.00,2.25,0.00,0.000,4,0.000,0.035,2575,3556,3383
$GC,9327,-0.92,-175.2,0.6,-0.1,1653,9333,0.00,2.08,0.00,0.000,6,0.000,0.018,2576,2229,3383
$GC,9670,-0.92,-175.2,0.7,0.0,1714,9676,0.00,2.25,0.00,0.000,4,0.000,0.020,2575,808,3383
$GC,9929,-0.92,-175.2,0.7,0.1,1760,9935,0.00,2.17,0.00,0.000,6,0.000,0.021,2575,2168,3382
$GC,10273,-0.92,-175.2,0.7,-0.2,1821,10279,0.00,2.17,0.00,0.000,4,0.000,0.020,2575,803,3382
$GC,10532,-0.92,-175.2,0.6,-0.2,1867,10539,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2215,3382
$STATE,10806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10806,begin apogee
$GC,10811,-0.31,0.0,0.6,0.2,1916,10818,0.55,0.00,4.30,0.318,2,0.061,0.000,2700,2215,3342
$STATE,10819,end apogee,SURFACE_DEPTH_REACHED
$STATE,10819,begin surface coast
$FINISH,0.7,0.997080
$STATE,10919,end surface coast,NO_VERTICAL_VELOCITY
$STATE,10919,begin surface
$SM_CCo,10937,334.05,0.453,0,0,449,543.09
$SM_GC,0.57,0.00,0.00,334.05,0.000,0.000,0.453,419,2215,449,-10.81,0.40,543.09
$IRIDIUM_FIX,2108.69,-15749.15,310797,020208
$TT8_MAMPS,0.029146
$HUMID,1686
$INTERNAL_PRESSURE,8.74652
$TCM_TEMP,24.40
$XPDR_PINGS,935
$24V_AH,24.3,29.868
$10V_AH,10.3,17.337
$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,19.525,79.075,4.300,334.050,0.000,158.041,142.902,128.203,233.750,0.000,0.000,499.441,2610.341,4611.675,531.233,4093.364,729.347,33.375,1864.311,0.000,3642.127,0.000,0.474
$DEVICE_MAMPS,61.360,45.253,318.305,453.297,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1454.759,1305.111,3248.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88233,1935
$CAP_FILE_SIZE,127230,0
$CFSIZE,260165632,247939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,021554,2117.615,-15751.330,364,5.1,496,9.8