version: 66.03
glider: 139
mission: 2
dive: 72
start: 4 17 108 10 56 28
data:
$ID,139
$MISSION,2
$DIVE,72
$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,-1253547.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,46
$R_STBD_OVSHOOT,75
$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
$GPS1,104756,2109.424,-15754.936,26,1.6,26,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.4
$GPS2,105537,2109.520,-15754.914,10,1.3,26,9.8
$SPEED_LIMITS,0.107,0.281
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.278,-0.042
$KALMAN_X,-59715.2,532.2,196.2,54752.6,-2287.2
$KALMAN_Y,-10663.9,-144.5,179.1,179.8,-245.5
$MHEAD_RNG_PITCHd_Wd,88.7,19190,-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,-194.6,0.0,0.0,0,69,0.00,0.00,-49.85,0.000,2,0.000,0.000,429,2240,2865
$GC,71,-1.06,-194.6,3.8,-8.7,9,101,12.12,2.42,-11.00,0.000,4,0.163,0.048,2541,803,3460
$GC,297,-1.06,-194.6,40.1,-13.1,43,301,0.00,2.22,0.00,0.000,6,0.000,0.020,2541,2186,3462
$GC,622,-1.06,-194.6,79.3,-12.8,73,626,0.00,2.33,0.00,0.000,4,0.000,0.033,2541,3587,3463
$GC,745,-1.06,-194.6,94.2,-12.1,84,749,0.00,2.25,0.00,0.000,6,0.000,0.021,2541,2200,3464
$GC,1069,-1.06,-194.6,123.8,-9.9,114,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2199,3464
$GC,1387,-1.06,-194.6,152.5,-8.7,144,1391,0.00,2.33,0.00,0.000,4,0.000,0.034,2541,807,3464
$GC,1453,-1.06,-194.6,158.6,-9.5,149,1460,0.00,2.28,0.00,0.000,6,0.000,0.020,2541,2199,3465
$GC,1777,-1.06,-194.6,186.3,-10.1,180,1782,0.00,2.33,0.00,0.000,4,0.000,0.035,2541,3590,3465
$GC,1850,-1.06,-194.6,194.2,-10.8,186,1854,0.00,2.25,0.00,0.000,6,0.000,0.048,2541,2197,3465
$GC,2183,-1.06,-194.6,223.8,-8.1,205,2187,0.00,2.33,0.00,0.000,4,0.000,0.035,2540,804,3466
$GC,2238,-1.06,-194.6,228.5,-8.6,207,2242,0.00,2.28,0.00,0.000,6,0.000,0.030,2541,2192,3466
$GC,2560,-1.06,-194.6,254.8,-7.6,223,2564,0.00,2.35,0.00,0.000,4,0.000,0.039,2541,3588,3465
$GC,2582,-1.06,-194.6,256.3,-6.7,224,2586,0.00,2.28,0.00,0.000,6,0.000,0.060,2541,2197,3465
$GC,2908,-1.06,-194.6,275.8,-6.4,240,2912,0.00,2.35,0.00,0.000,4,0.000,0.037,2541,800,3464
$GC,2951,-1.06,-194.6,279.1,-7.2,242,2956,0.00,2.33,0.00,0.000,6,0.000,0.025,2541,2216,3464
$GC,3298,-1.06,-194.6,307.8,-8.9,257,3302,0.00,2.40,0.00,0.000,4,0.000,0.072,2541,803,3462
$GC,3330,-1.06,-194.6,310.9,-9.3,257,3337,0.00,2.33,0.00,0.000,6,0.000,0.025,2541,2198,3462
$GC,3662,-1.06,-194.6,338.2,-8.0,266,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2199,3460
$GC,3988,-1.06,-194.6,358.0,-5.2,274,3992,0.00,2.38,0.00,0.000,4,0.000,0.050,2541,804,3459
$GC,4026,-1.06,-194.6,359.7,-4.7,275,4030,0.00,2.30,0.00,0.000,6,0.000,0.061,2541,2199,3459
$GC,4355,-1.06,-194.6,373.9,-4.7,283,4359,0.00,2.40,0.00,0.000,4,0.000,0.044,2541,3600,3457
$GC,4403,-1.06,-194.6,376.7,-5.5,284,4408,0.00,2.33,0.00,0.000,6,0.000,0.026,2541,2209,3456
$GC,4723,-1.06,-194.6,390.7,-4.2,292,4727,0.00,2.40,0.00,0.000,4,0.000,0.041,2541,799,3455
$GC,4766,-1.06,-194.6,393.1,-5.5,293,4770,0.00,2.35,0.00,0.000,6,0.000,0.033,2541,2210,3455
$GC,5092,-1.06,-194.6,412.3,-6.5,301,5096,0.00,2.40,0.00,0.000,4,0.000,0.041,2541,806,3453
$GC,5131,-1.06,-194.6,415.3,-7.3,302,5135,0.00,2.30,0.00,0.000,6,0.000,0.029,2541,2201,3452
$GC,5461,-1.06,-194.6,440.6,-7.8,310,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2201,3451
$STATE,5622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5622,begin apogee
$GC,5626,-0.31,0.0,451.9,6.9,314,5786,0.80,0.00,157.23,0.877,6,0.069,0.000,2713,2140,2664
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5787,begin climb
$GC,5789,1.06,194.6,458.9,0.0,318,5959,1.33,2.50,160.05,0.849,4,0.042,0.081,3014,766,1868
$GC,5969,1.06,194.6,449.3,11.6,322,5974,0.00,2.38,0.00,0.000,6,0.000,0.029,3014,2143,1865
$GC,6317,1.06,194.6,410.0,11.1,331,6321,0.00,2.45,0.00,0.000,4,0.000,0.045,3014,3553,1859
$GC,6377,1.06,194.6,403.7,10.8,332,6382,0.00,2.38,0.00,0.000,6,0.000,0.035,3014,2168,1859
$GC,6725,1.06,194.6,369.5,10.2,341,6729,0.00,2.47,0.00,0.000,4,0.000,0.045,3014,742,1856
$GC,6797,1.06,194.6,362.1,10.4,342,6801,0.00,2.40,0.00,0.000,6,0.000,0.062,3014,2151,1854
$GC,7133,1.06,194.6,330.1,9.5,351,7137,0.00,2.42,0.00,0.000,4,0.000,0.044,3014,3552,1854
$GC,7154,1.06,194.6,328.0,9.6,351,7159,0.00,2.38,0.00,0.000,6,0.000,0.028,3013,2155,1853
$GC,7497,1.08,209.3,298.0,7.9,360,7513,0.00,2.45,11.20,0.740,4,0.000,0.076,3014,748,1809
$GC,7670,1.08,209.3,281.6,10.3,367,7674,0.00,2.35,0.00,0.000,6,0.000,0.028,3014,2156,1804
$GC,7995,1.08,209.3,250.0,9.2,383,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2159,1804
$GC,8304,1.09,222.6,223.9,8.0,398,8318,0.00,0.00,12.35,0.690,6,0.000,0.000,3014,2160,1756
$GC,8615,1.09,222.6,194.6,10.1,415,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2160,1753
$GC,8933,1.09,222.6,162.5,10.5,445,8937,0.00,2.42,0.00,0.000,4,0.000,0.038,3014,739,1752
$GC,8960,1.09,222.6,159.4,11.4,447,8964,0.00,2.33,0.00,0.000,6,0.000,0.058,3014,2161,1751
$GC,9285,1.09,222.6,127.0,9.8,477,9289,0.00,2.42,0.00,0.000,4,0.000,0.038,3014,741,1751
$GC,9384,1.09,222.6,118.1,8.7,485,9391,0.00,2.33,0.00,0.000,6,0.000,0.022,3014,2148,1750
$GC,9710,1.13,255.7,95.2,7.4,516,9742,0.00,0.00,29.25,0.597,6,0.000,0.000,3014,2153,1620
$GC,10060,1.16,274.9,64.7,7.8,549,10083,0.00,2.42,17.30,0.551,4,0.000,0.074,3014,3540,1543
$GC,10121,1.16,274.9,59.4,8.8,554,10128,0.00,2.35,0.00,0.000,6,0.000,0.054,3014,2132,1543
$GC,10446,1.16,274.9,33.0,8.7,585,10451,0.00,2.38,0.00,0.000,4,0.000,0.032,3014,3543,1541
$GC,10497,1.16,274.9,28.1,10.3,590,10503,0.00,2.30,0.00,0.000,6,0.000,0.028,3014,2134,1541
$STATE,10816,end climb,SURFACE_DEPTH_REACHED
$STATE,10817,begin surface coast
$FINISH,-0.1,1.010515
$STATE,10863,end surface coast,CONTROL_FINISHED_OK
$STATE,10863,begin surface
$SM_CCo,10882,30.05,0.506,0,0,1400,310.06
$SM_GC,0.92,0.00,0.00,30.05,0.000,0.000,0.506,427,2237,1400,-10.82,1.05,310.06
$IRIDIUM_FIX,2059.45,-15756.04,120797,080845
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.50
$XPDR_PINGS,613
$24V_AH,23.6,12.793
$10V_AH,10.2,6.716
$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,25.425,99.125,387.375,30.050,0.000,23.409,27.071,307.244,162.250,0.000,0.000,27.632,1192.492,7695.394,485.513,1530.405,478.206,33.357,1221.724,0.000,1482.973,0.000,58.029
$DEVICE_MAMPS,163.371,95.875,876.681,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.724,423.441,748.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31803,655
$CAP_FILE_SIZE,96945,8
$CFSIZE,260165632,254656512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,135931,2109.073,-15754.784,35,1.8,35,9.8