version: 66.03
glider: 139
mission: 2
dive: 84
start: 4 19 108 2 14 42
data:
$ID,139
$MISSION,2
$DIVE,84
$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,200
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1253759.4
$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,46
$R_STBD_OVSHOOT,57
$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
$GPS1,020726,2102.267,-15746.432,39,1.4,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-63.8
$GPS2,021350,2102.306,-15746.473,12,0.9,12,9.8
$SPEED_LIMITS,0.096,0.271
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.090,0.256
$KALMAN_X,-80480.0,154.0,-205.8,90854.8,-1407.7
$KALMAN_Y,-16729.6,-23.1,-41.3,-7013.6,-707.7
$MHEAD_RNG_PITCHd_Wd,330.8,19450,-11.8,-7.500
$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,17,begin dive
$GC,19,-0.98,-194.6,0.0,0.0,0,70,0.00,0.00,-49.25,0.000,2,0.000,0.000,423,2150,2854
$GC,72,-0.98,-194.6,3.5,-8.2,9,101,12.20,1.70,-11.40,0.000,4,0.163,0.092,2549,3214,3459
$GC,252,-0.98,-194.6,30.9,-11.9,41,256,0.00,1.65,0.00,0.000,6,0.000,0.021,2549,2204,3460
$GC,581,-0.98,-194.6,74.2,-13.7,72,585,0.00,2.33,0.00,0.000,4,0.000,0.034,2549,807,3461
$GC,654,-0.98,-194.6,83.1,-12.4,78,657,0.00,1.62,0.00,0.000,6,0.000,0.067,2549,1874,3461
$GC,985,-0.98,-194.6,120.5,-11.8,109,989,0.00,2.85,0.00,0.000,4,0.000,0.031,2549,3584,3461
$GC,1185,-0.98,-194.6,142.4,-10.6,126,1192,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2195,3462
$GC,1510,-0.98,-194.6,172.5,-8.0,157,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2193,3462
$GC,1829,-0.98,-194.6,192.4,-6.2,187,1833,0.00,2.35,0.00,0.000,4,0.000,0.035,2549,3593,3463
$GC,1868,-0.98,-194.6,195.2,-7.8,190,1872,0.00,2.25,0.00,0.000,6,0.000,0.020,2549,2199,3463
$GC,2190,-0.98,-194.6,217.4,-7.1,209,2194,0.00,2.33,0.00,0.000,4,0.000,0.035,2549,807,3463
$GC,2245,-0.98,-194.6,221.4,-7.0,211,2251,0.00,2.25,0.00,0.000,6,0.000,0.021,2549,2186,3463
$GC,2561,-0.98,-194.6,240.4,-5.4,227,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2187,3463
$GC,2869,-0.98,-194.6,256.2,-5.9,242,2873,0.00,2.38,0.00,0.000,4,0.000,0.038,2549,3591,3462
$GC,2913,-0.98,-194.6,259.3,-6.9,244,2917,0.00,2.30,0.00,0.000,6,0.000,0.058,2549,2204,3462
$GC,3239,-0.98,-194.6,282.8,-7.4,260,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2202,3460
$GC,3548,-0.98,-194.6,302.6,-6.2,274,3552,0.00,2.38,0.00,0.000,4,0.000,0.038,2549,798,3459
$GC,3591,-0.98,-194.6,305.7,-7.2,275,3596,0.00,2.33,0.00,0.000,6,0.000,0.025,2549,2192,3459
$GC,3916,-0.98,-194.6,324.5,-5.7,283,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2193,3457
$GC,4241,-0.98,-194.6,346.7,-7.6,291,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2193,3456
$GC,4565,-0.98,-194.6,375.2,-9.1,299,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2194,3453
$GC,4891,-0.98,-194.6,398.7,-6.9,307,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2194,3452
$GC,5216,-0.98,-194.6,416.5,-5.1,315,5220,0.00,2.38,0.00,0.000,4,0.000,0.041,2549,807,3450
$GC,5259,-0.98,-194.6,418.9,-5.9,316,5264,0.00,2.33,0.00,0.000,6,0.000,0.028,2549,2202,3449
$GC,5583,-0.98,-194.6,437.0,-5.9,324,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2202,3448
$STATE,5827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5828,begin apogee
$GC,5831,-0.31,0.0,450.4,5.3,330,5990,0.70,0.00,156.07,0.881,6,0.067,0.000,2701,2202,2664
$STATE,5991,end apogee,CONTROL_FINISHED_OK
$STATE,5991,begin climb
$GC,5993,0.98,194.6,454.9,0.0,334,6161,1.25,2.58,159.68,0.853,4,0.044,0.065,2984,761,1869
$GC,6244,0.98,194.6,436.3,12.0,340,6248,0.00,2.38,0.00,0.000,6,0.000,0.062,2984,2148,1860
$GC,6568,0.98,194.6,404.0,9.7,348,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2150,1857
$GC,6893,0.98,194.6,377.4,7.5,356,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2151,1856
$GC,7218,1.00,214.0,354.5,7.0,364,7235,0.00,0.00,15.43,0.795,6,0.000,0.000,2984,2151,1791
$GC,7543,1.00,214.0,330.5,7.5,372,7547,0.00,2.42,0.00,0.000,4,0.000,0.076,2984,753,1787
$GC,7613,1.00,214.0,324.1,9.2,373,7619,0.00,2.35,0.00,0.000,6,0.000,0.028,2984,2147,1784
$GC,7930,1.00,214.0,295.8,9.1,382,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2148,1785
$GC,8240,1.00,214.0,266.4,9.6,397,8244,0.00,2.40,0.00,0.000,4,0.000,0.042,2984,753,1784
$GC,8271,1.00,214.0,263.0,10.4,398,8279,0.00,2.35,0.00,0.000,6,0.000,0.063,2984,2150,1783
$GC,8587,1.01,221.2,236.8,7.3,414,8600,0.00,2.47,6.45,0.637,4,0.000,0.048,2984,3554,1761
$GC,8639,1.01,221.2,232.6,8.0,416,8644,0.00,2.35,0.00,0.000,6,0.000,0.027,2984,2161,1761
$GC,8959,1.01,221.2,207.0,8.3,432,8964,0.00,2.42,0.00,0.000,4,0.000,0.042,2984,746,1760
$GC,9055,1.01,221.2,197.9,10.6,437,9059,0.00,2.33,0.00,0.000,6,0.000,0.027,2985,2154,1758
$GC,9379,1.01,225.0,171.3,7.4,467,9391,0.00,2.40,4.38,0.505,4,0.000,0.041,2984,3550,1746
$GC,9530,1.01,225.0,159.6,8.4,480,9537,0.00,2.35,0.00,0.000,6,0.000,0.059,2984,2150,1746
$GC,9856,1.07,268.7,137.8,6.4,511,9900,0.00,2.42,39.70,0.654,4,0.000,0.067,2984,3549,1567
$GC,9945,1.07,268.7,130.6,8.7,519,9949,0.00,2.33,0.00,0.000,6,0.000,0.024,2984,2147,1567
$GC,10270,1.09,288.0,107.8,7.0,549,10293,0.10,2.40,17.12,0.594,4,0.058,0.070,3016,750,1488
$GC,10349,1.09,288.0,100.6,10.0,556,10353,0.00,2.30,0.00,0.000,6,0.000,0.021,3016,2157,1484
$GC,10674,1.09,288.0,72.4,8.2,586,10677,0.00,2.40,0.00,0.000,4,0.000,0.036,3016,746,1484
$GC,10790,1.09,288.0,61.8,9.3,596,10797,0.00,2.30,0.00,0.000,6,0.000,0.041,3016,2150,1482
$GC,11116,1.09,288.0,33.6,7.7,627,11120,0.00,2.38,0.00,0.000,4,0.000,0.035,3016,743,1482
$GC,11235,1.09,288.0,23.6,8.6,643,11241,0.00,2.25,0.00,0.000,6,0.000,0.034,3016,2153,1482
$STATE,11503,end climb,SURFACE_DEPTH_REACHED
$STATE,11503,begin surface coast
$FINISH,0.1,1.023241
$STATE,11538,end surface coast,CONTROL_FINISHED_OK
$STATE,11538,begin surface
$SM_CCo,11556,18.85,0.500,0,0,1399,310.06
$SM_GC,0.91,0.00,0.00,18.85,0.000,0.000,0.500,422,2156,1399,-10.80,-1.27,310.06
$IRIDIUM_FIX,2052.52,-15732.04,130797,222248
$TT8_MAMPS,0.029146
$HUMID,1779
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.40
$XPDR_PINGS,600
$24V_AH,23.6,14.391
$10V_AH,10.2,7.622
$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,25.375,83.250,398.825,18.850,0.000,25.780,27.594,220.034,159.000,0.000,0.000,14.258,1230.956,8289.501,486.418,1541.202,404.700,33.370,1223.519,0.000,1513.309,0.000,57.429
$DEVICE_MAMPS,163.371,92.040,880.516,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.171,455.052,777.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34798,697
$CAP_FILE_SIZE,94895,9
$CFSIZE,260165632,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,052821,2103.672,-15747.161,8,1.8,8,9.8