version: 66.03
glider: 139
mission: 2
dive: 85
start: 4 19 108 5 50 28
data:
$ID,139
$MISSION,2
$DIVE,85
$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,-1253792.9
$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,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
$GPS1,052821,2103.672,-15747.161,8,1.8,8,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-61.4
$GPS2,054938,2103.683,-15747.132,31,1.8,31,9.8
$SPEED_LIMITS,0.096,0.271
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.205,0.177
$KALMAN_X,-80660.1,239.5,-177.7,89781.0,-27.1
$KALMAN_Y,-17099.2,4.6,-221.5,-3946.0,-45.2
$MHEAD_RNG_PITCHd_Wd,301.0,16904,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.98,-194.6,0.0,0.0,0,71,0.00,0.00,-49.70,0.000,2,0.000,0.000,422,2156,2850
$GC,73,-0.98,-194.6,3.4,-7.8,9,102,12.02,2.40,-11.60,0.000,4,0.158,0.048,2544,3591,3460
$GC,314,-0.98,-194.6,37.5,-11.4,46,322,0.00,2.30,0.00,0.000,6,0.000,0.020,2544,2195,3461
$GC,639,-0.98,-194.6,73.2,-11.5,77,643,0.00,2.33,0.00,0.000,4,0.000,0.035,2543,804,3461
$GC,690,-0.98,-194.6,78.9,-11.0,81,694,0.00,2.22,0.00,0.000,6,0.000,0.054,2544,2198,3461
$GC,1013,-0.98,-194.6,113.8,-10.9,111,1017,0.00,2.35,0.00,0.000,4,0.000,0.034,2543,798,3461
$GC,1052,-0.98,-194.6,118.0,-10.6,114,1056,0.00,2.25,0.00,0.000,6,0.000,0.056,2544,2200,3461
$GC,1376,-0.98,-194.6,149.3,-9.2,144,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2204,3461
$GC,1695,-0.98,-194.6,172.5,-7.0,174,1699,0.00,2.33,0.00,0.000,4,0.000,0.034,2544,3593,3462
$GC,1789,-0.98,-194.6,179.9,-7.7,182,1794,0.00,2.25,0.00,0.000,6,0.000,0.020,2544,2196,3462
$GC,2116,-0.98,-194.6,207.1,-7.8,209,2120,0.00,2.35,0.00,0.000,4,0.000,0.035,2544,3592,3462
$GC,2143,-0.98,-194.6,209.3,-8.1,210,2147,0.00,2.28,0.00,0.000,6,0.000,0.028,2544,2206,3462
$GC,2465,-0.98,-194.6,231.2,-6.5,226,2469,0.00,2.35,0.00,0.000,4,0.000,0.035,2543,802,3462
$GC,2508,-0.98,-194.6,234.3,-6.7,228,2512,0.00,2.28,0.00,0.000,6,0.000,0.022,2544,2188,3461
$GC,2835,-0.98,-194.6,255.0,-6.4,244,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2188,3461
$GC,3144,-0.98,-194.6,272.3,-5.0,259,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2188,3460
$GC,3453,-0.98,-194.6,289.8,-7.0,274,3458,0.00,2.33,0.00,0.000,4,0.000,0.038,2543,811,3458
$GC,3485,-0.98,-194.6,292.3,-8.1,275,3489,0.00,2.30,0.00,0.000,6,0.000,0.025,2544,2194,3457
$GC,3803,-0.98,-194.6,319.7,-9.0,286,3810,0.00,2.35,0.00,0.000,4,0.000,0.038,2544,805,3456
$GC,3842,-0.98,-194.6,323.4,-9.3,286,3849,0.00,2.33,0.00,0.000,6,0.000,0.026,2544,2201,3455
$GC,4174,-0.98,-194.6,347.9,-6.9,295,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2201,3453
$GC,4499,-0.98,-194.6,365.9,-5.4,303,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2201,3451
$GC,4824,-0.98,-194.6,385.0,-5.8,311,4828,0.00,2.40,0.00,0.000,4,0.000,0.044,2544,3603,3449
$GC,4862,-0.98,-194.6,387.4,-6.7,312,4866,0.00,2.30,0.00,0.000,6,0.000,0.026,2544,2209,3448
$GC,5185,-0.98,-194.6,409.3,-7.2,320,5189,0.00,2.40,0.00,0.000,4,0.000,0.042,2543,805,3447
$GC,5224,-0.98,-194.6,412.3,-8.2,321,5228,0.00,2.33,0.00,0.000,6,0.000,0.028,2544,2202,3446
$GC,5553,-0.98,-194.6,436.9,-7.3,329,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2203,3444
$STATE,5755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5755,begin apogee
$GC,5759,-0.31,0.0,450.1,6.4,334,5917,0.73,0.00,155.25,0.881,6,0.067,0.000,2700,2143,2664
$STATE,5918,end apogee,CONTROL_FINISHED_OK
$STATE,5918,begin climb
$GC,5920,0.98,194.6,456.5,0.0,338,6086,1.30,2.45,159.62,0.852,4,0.106,0.077,2987,765,1869
$GC,6114,0.98,194.6,447.8,8.7,342,6120,0.00,2.35,0.00,0.000,6,0.000,0.057,2987,2151,1864
$GC,6444,0.98,194.6,417.9,9.1,351,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2153,1859
$GC,6769,0.98,194.6,386.9,9.5,359,6773,0.00,2.42,0.00,0.000,4,0.000,0.044,2987,760,1857
$GC,6835,0.98,194.6,380.5,9.2,360,6840,0.00,2.38,0.00,0.000,6,0.000,0.042,2987,2150,1854
$GC,7177,0.98,194.6,351.6,8.9,369,7182,0.00,2.42,0.00,0.000,4,0.000,0.077,2987,3552,1854
$GC,7254,0.98,194.6,343.3,10.9,370,7261,0.00,2.35,0.00,0.000,6,0.000,0.038,2987,2169,1854
$GC,7586,0.98,194.6,312.6,8.7,379,7590,0.00,2.45,0.00,0.000,4,0.000,0.049,2987,748,1852
$GC,7651,0.98,194.6,306.9,8.2,380,7656,0.00,2.38,0.00,0.000,6,0.000,0.028,2987,2152,1850
$GC,7977,1.02,228.1,284.5,6.6,394,8010,0.00,2.45,26.98,0.783,4,0.000,0.076,2987,3551,1733
$GC,8044,1.02,228.1,279.2,8.4,397,8049,0.00,2.40,0.00,0.000,6,0.000,0.028,2987,2144,1733
$GC,8371,1.02,228.1,248.4,9.7,413,8375,0.00,2.38,0.00,0.000,4,0.000,0.051,2987,752,1727
$GC,8442,1.02,228.1,241.2,9.7,416,8447,0.00,2.35,0.00,0.000,6,0.000,0.055,2987,2146,1724
$GC,8769,1.02,228.1,214.5,8.0,432,8773,0.00,2.40,0.00,0.000,4,0.000,0.073,2987,3548,1724
$GC,8874,1.02,228.1,204.6,9.6,436,8882,0.00,2.35,0.00,0.000,6,0.000,0.025,2987,2154,1724
$GC,9198,1.02,228.1,176.6,8.1,465,9203,0.00,2.40,0.00,0.000,4,0.000,0.040,2987,751,1724
$GC,9248,1.02,228.1,171.9,9.3,469,9253,0.00,2.33,0.00,0.000,6,0.000,0.059,2987,2161,1723
$GC,9573,1.03,241.8,145.5,7.1,499,9594,0.00,2.45,11.77,0.627,4,0.000,0.071,2987,3550,1678
$GC,9688,1.03,241.8,135.6,10.0,509,9695,0.00,2.35,0.00,0.000,6,0.000,0.023,2987,2146,1678
$GC,10014,1.11,307.6,110.8,5.8,540,10079,0.12,2.38,57.65,0.624,4,0.052,0.053,3023,753,1408
$GC,10146,1.11,307.6,100.0,9.4,552,10150,0.00,2.30,0.00,0.000,6,0.000,0.022,3024,2154,1402
$GC,10470,1.11,307.6,64.8,10.9,582,10475,0.00,2.40,0.00,0.000,4,0.000,0.037,3023,751,1401
$GC,10577,1.11,307.6,52.5,11.8,591,10581,0.00,2.28,0.00,0.000,6,0.000,0.026,3023,2155,1399
$GC,10906,1.11,307.6,20.7,10.2,630,10912,0.00,2.38,0.00,0.000,4,0.000,0.036,3023,752,1399
$GC,10974,1.11,307.6,13.6,11.2,642,10981,0.00,2.25,0.00,0.000,6,0.000,0.035,3024,2157,1398
$STATE,11114,end climb,SURFACE_DEPTH_REACHED
$STATE,11114,begin surface coast
$FINISH,0.1,1.023333
$STATE,11166,end surface coast,CONTROL_FINISHED_OK
$STATE,11166,begin surface
$SM_CCo,11244,0.00,0.000,0,0,1395,311.29
$SM_GC,1.08,11.23,0.00,0.00,0.040,0.000,0.000,424,2159,1395,-10.70,-1.13,311.29
$IRIDIUM_FIX,2057.14,-15744.48,140797,050559
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.50
$XPDR_PINGS,598
$24V_AH,23.6,14.559
$10V_AH,10.2,7.705
$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,25.400,103.475,411.275,0.000,0.000,110.099,146.201,710.462,158.500,0.000,0.000,32.843,1198.536,8165.145,503.814,1541.912,1114.769,33.372,1246.705,0.000,1494.233,0.000,58.252
$DEVICE_MAMPS,158.002,97.409,881.283,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.555,439.903,755.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34823,676
$CAP_FILE_SIZE,108712,14
$CFSIZE,260165632,254009344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190408,085902,2104.583,-15748.702,37,1.3,37,9.8