version: 66.03
glider: 139
mission: 2
dive: 77
start: 4 18 108 3 1 25
data:
$ID,139
$MISSION,2
$DIVE,77
$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,190
$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,-1253622.2
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,025338,2107.005,-15752.422,28,1.2,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.6
$GPS2,030033,2107.049,-15752.373,8,1.5,8,9.8
$SPEED_LIMITS,0.101,0.276
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.264,-0.080
$KALMAN_X,-68681.2,-523.2,-597.1,69952.3,-1043.0
$KALMAN_Y,-13291.0,-154.9,181.8,-1763.8,-928.9
$MHEAD_RNG_PITCHd_Wd,97.1,12851,-12.4,-7.895
$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,-1.02,-194.6,0.0,0.0,0,68,0.00,0.00,-49.33,0.000,2,0.000,0.000,428,2155,2861
$GC,70,-1.02,-194.6,3.2,-6.8,9,100,12.18,2.40,-11.32,0.000,4,0.163,0.080,2548,3590,3459
$GC,156,-1.02,-194.6,19.4,-12.4,24,163,0.00,2.25,0.00,0.000,6,0.000,0.020,2548,2195,3460
$GC,491,-1.02,-194.6,57.6,-10.6,63,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2193,3461
$GC,810,-1.02,-194.6,94.5,-11.8,93,814,0.00,2.33,0.00,0.000,4,0.000,0.032,2548,3585,3462
$GC,853,-1.02,-194.6,99.7,-11.4,96,861,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2197,3462
$GC,1178,-1.02,-194.6,135.2,-10.0,127,1182,0.00,2.33,0.00,0.000,4,0.000,0.032,2548,3585,3462
$GC,1306,-1.02,-194.6,149.3,-10.3,138,1310,0.00,2.22,0.00,0.000,6,0.000,0.020,2548,2198,3462
$GC,1630,-1.02,-194.6,176.8,-6.4,168,1634,0.00,2.33,0.00,0.000,4,0.000,0.034,2548,801,3463
$GC,1661,-1.02,-194.6,178.8,-6.2,170,1669,0.00,2.28,0.00,0.000,6,0.000,0.038,2548,2198,3463
$GC,1995,-1.02,-194.6,206.3,-10.3,199,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2199,3463
$GC,2304,-1.02,-194.6,229.3,-5.5,214,2308,0.00,2.30,0.00,0.000,4,0.000,0.035,2548,810,3463
$GC,2327,-1.02,-194.6,230.5,-5.1,215,2331,0.00,2.25,0.00,0.000,6,0.000,0.057,2548,2197,3464
$GC,2659,-1.02,-194.6,247.4,-5.9,231,2663,0.00,2.35,0.00,0.000,4,0.000,0.039,2548,3591,3463
$GC,2703,-1.02,-194.6,250.4,-6.5,233,2707,0.00,2.28,0.00,0.000,6,0.000,0.022,2548,2191,3462
$GC,3025,-1.02,-194.6,270.9,-6.7,249,3029,0.00,2.33,0.00,0.000,4,0.000,0.038,2548,809,3462
$GC,3114,-1.02,-194.6,277.6,-7.2,253,3118,0.00,2.28,0.00,0.000,6,0.000,0.024,2548,2208,3461
$GC,3441,-1.02,-194.6,300.6,-6.7,269,3445,0.00,2.33,0.00,0.000,4,0.000,0.041,2548,3591,3461
$GC,3474,-1.02,-194.6,302.8,-6.5,269,3478,0.00,2.30,0.00,0.000,6,0.000,0.024,2548,2205,3460
$GC,3811,-1.02,-194.6,321.9,-5.8,278,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2203,3458
$GC,4136,-1.02,-194.6,342.1,-6.3,286,4140,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,806,3456
$GC,4168,-1.02,-194.6,344.3,-6.7,286,4175,0.00,2.33,0.00,0.000,6,0.000,0.033,2548,2193,3456
$GC,4500,-1.02,-194.6,360.6,-4.4,295,4505,0.00,2.38,0.00,0.000,4,0.000,0.039,2548,800,3454
$GC,4534,-1.02,-194.6,362.1,-4.9,295,4540,0.00,2.33,0.00,0.000,6,0.000,0.027,2548,2209,3454
$GC,4866,-1.02,-194.6,380.6,-6.3,304,4870,0.00,2.38,0.00,0.000,4,0.000,0.044,2548,3596,3452
$GC,4893,-1.02,-194.6,382.6,-6.7,304,4897,0.00,2.33,0.00,0.000,6,0.000,0.039,2548,2209,3452
$GC,5230,-1.02,-194.6,403.0,-5.9,313,5234,0.00,2.40,0.00,0.000,4,0.000,0.041,2548,800,3450
$GC,5273,-1.02,-194.6,405.7,-6.2,314,5277,0.00,2.35,0.00,0.000,6,0.000,0.028,2548,2199,3450
$GC,5599,-1.02,-194.6,423.8,-5.7,322,5603,0.00,2.40,0.00,0.000,4,0.000,0.042,2548,800,3448
$GC,5637,-1.02,-194.6,426.4,-6.9,323,5641,0.00,2.33,0.00,0.000,6,0.000,0.029,2548,2198,3448
$GC,5965,-1.02,-194.6,449.0,-7.0,331,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2199,3446
$STATE,6005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6005,begin apogee
$GC,6009,-0.31,0.0,451.8,6.9,332,6169,0.75,0.00,156.45,0.879,6,0.066,0.000,2710,2198,2664
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6171,1.02,194.6,460.7,0.0,336,6336,1.33,0.00,161.62,0.853,6,0.041,0.000,3009,2198,1870
$GC,6651,1.02,194.6,423.3,10.2,348,6655,0.00,2.53,0.00,0.000,4,0.000,0.044,3009,756,1860
$GC,6722,1.02,194.6,415.6,11.3,349,6727,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2149,1857
$GC,7058,1.02,194.6,380.1,11.1,358,7063,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,758,1856
$GC,7090,1.02,194.6,376.1,12.9,358,7097,0.00,2.35,0.00,0.000,6,0.000,0.029,3009,2146,1854
$GC,7421,1.02,194.6,336.9,11.8,367,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2146,1854
$GC,7747,1.02,194.6,301.8,10.3,375,7751,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3553,1853
$GC,7785,1.02,194.6,297.6,10.9,376,7789,0.00,2.35,0.00,0.000,6,0.000,0.065,3009,2150,1853
$GC,8117,1.02,194.6,264.0,9.9,392,8120,0.00,2.40,0.00,0.000,4,0.000,0.066,3009,751,1851
$GC,8165,1.02,194.6,259.1,9.5,394,8170,0.00,2.35,0.00,0.000,6,0.000,0.028,3009,2150,1850
$GC,8492,1.02,194.6,230.8,9.7,410,8496,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,751,1850
$GC,8621,1.02,194.6,219.3,8.5,416,8625,0.00,2.33,0.00,0.000,6,0.000,0.049,3009,2153,1848
$GC,8938,1.02,194.6,193.4,8.1,435,8942,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,741,1848
$GC,8999,1.02,195.1,188.1,7.9,440,9004,0.00,2.35,0.00,0.000,6,0.000,0.029,3009,2161,1847
$GC,9324,1.02,195.1,162.6,8.3,470,9328,0.00,2.38,0.00,0.000,4,0.000,0.039,3009,3553,1847
$GC,9486,1.14,298.0,151.2,5.1,484,9581,0.00,2.33,85.20,0.663,6,0.000,0.024,3009,2142,1447
$GC,9898,1.14,298.0,117.9,9.0,523,9902,0.00,2.38,0.00,0.000,4,0.000,0.038,3009,752,1440
$GC,9931,1.14,298.0,115.0,9.2,526,9935,0.00,2.30,0.00,0.000,6,0.000,0.022,3009,2155,1437
$GC,10256,1.14,298.0,86.6,8.8,556,10260,0.00,2.38,0.00,0.000,4,0.000,0.037,3009,755,1438
$GC,10305,1.14,298.0,82.5,8.3,560,10309,0.00,2.28,0.00,0.000,6,0.000,0.021,3009,2153,1436
$GC,10630,1.14,298.0,53.7,9.6,590,10634,0.00,2.38,0.00,0.000,4,0.000,0.036,3009,754,1436
$GC,10680,1.14,298.0,48.6,10.5,594,10684,0.00,2.28,0.00,0.000,6,0.000,0.056,3009,2164,1436
$GC,11012,1.15,301.7,19.1,7.8,636,11018,0.00,2.28,0.00,0.000,4,0.000,0.032,3009,3539,1437
$GC,11046,1.15,301.7,16.1,8.2,642,11052,0.00,2.25,0.00,0.000,6,0.000,0.021,3009,2144,1437
$STATE,11208,end climb,SURFACE_DEPTH_REACHED
$STATE,11209,begin surface coast
$FINISH,0.1,1.023240
$STATE,11249,end surface coast,CONTROL_FINISHED_OK
$STATE,11249,begin surface
$SM_CCo,11267,8.90,0.459,0,0,1400,310.06
$SM_GC,1.83,0.00,0.00,8.90,0.000,0.000,0.459,428,2139,1400,-10.82,-1.72,310.06
$IRIDIUM_FIX,2059.45,-15750.89,120797,232335
$TT8_MAMPS,0.028379
$HUMID,1808
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.70
$XPDR_PINGS,602
$24V_AH,23.6,13.449
$10V_AH,10.2,7.088
$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,25.425,112.275,403.275,8.900,0.000,31.276,31.269,261.477,159.500,0.000,0.000,9.812,1223.429,8004.137,525.130,1497.130,449.640,33.367,1246.896,0.000,1471.040,0.000,57.435
$DEVICE_MAMPS,163.371,79.768,878.982,458.666,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.738,440.499,757.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34725,678
$CAP_FILE_SIZE,99498,5
$CFSIZE,260165632,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,061037,2106.297,-15751.583,35,0.9,40,9.8