version: 66.03
glider: 139
mission: 2
dive: 88
start: 4 19 108 15 55 0
data:
$ID,139
$MISSION,2
$DIVE,88
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1253836.8
$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,37
$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
$GPS1,153744,2106.844,-15752.443,25,1.6,32,9.8
$_CALLS,3
$_XMS_NAKs,41
$_XMS_TOUTs,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-61.5
$GPS2,155409,2106.949,-15752.462,13,1.6,13,9.8
$SPEED_LIMITS,0.096,0.271
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.117,0.244
$KALMAN_X,-84452.2,-360.3,-722.7,85536.9,-525.9
$KALMAN_Y,-19329.0,-112.1,-114.5,4344.2,-491.2
$MHEAD_RNG_PITCHd_Wd,324.6,6090,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.98,-194.6,0.0,0.0,0,74,0.00,0.00,-54.55,0.000,2,0.000,0.000,419,2158,2792
$GC,76,-0.98,-194.6,3.1,-7.4,10,111,12.27,2.45,-13.25,0.000,4,0.165,0.077,2549,3587,3461
$GC,257,-0.98,-194.6,27.0,-10.9,42,264,0.00,2.28,0.00,0.000,6,0.000,0.021,2549,2183,3462
$GC,584,-0.98,-194.6,69.8,-11.7,75,588,0.00,2.30,0.00,0.000,4,0.000,0.033,2548,801,3461
$GC,634,-0.98,-194.6,74.5,-8.7,79,638,0.00,2.25,0.00,0.000,6,0.000,0.019,2549,2205,3462
$GC,958,-0.98,-194.6,103.2,-10.2,109,962,0.00,2.35,0.00,0.000,4,0.000,0.033,2548,803,3462
$GC,990,-0.98,-194.6,106.9,-11.0,111,998,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2199,3462
$GC,1316,-0.98,-194.6,135.9,-9.0,142,1320,0.00,2.35,0.00,0.000,4,0.000,0.033,2548,797,3462
$GC,1388,-0.98,-194.6,143.4,-10.1,148,1392,0.00,2.28,0.00,0.000,6,0.000,0.019,2549,2212,3463
$GC,1711,-0.98,-194.6,172.1,-9.0,178,1715,0.00,2.30,0.00,0.000,4,0.000,0.035,2549,3588,3462
$GC,1745,-0.98,-194.6,175.5,-10.3,181,1749,0.00,2.25,0.00,0.000,6,0.000,0.020,2548,2195,3462
$GC,2083,-0.98,-194.6,203.6,-8.3,211,2087,0.00,2.33,0.00,0.000,4,0.000,0.034,2548,798,3463
$GC,2114,-0.98,-194.6,206.6,-9.0,212,2122,0.00,2.28,0.00,0.000,6,0.000,0.020,2548,2197,3463
$GC,2432,-0.98,-194.6,230.7,-6.7,228,2436,0.00,2.35,0.00,0.000,4,0.000,0.037,2549,3595,3463
$GC,2459,-0.98,-194.6,232.6,-6.0,229,2464,0.00,2.30,0.00,0.000,6,0.000,0.056,2548,2196,3463
$GC,2780,-0.98,-194.6,257.3,-9.4,245,2784,0.00,2.33,0.00,0.000,4,0.000,0.035,2548,803,3463
$GC,2812,-0.98,-194.6,260.2,-8.7,246,2819,0.00,2.28,0.00,0.000,6,0.000,0.023,2549,2189,3462
$GC,3127,-0.98,-194.6,277.1,-5.9,262,3131,0.00,2.33,0.00,0.000,4,0.000,0.036,2548,806,3461
$GC,3166,-0.98,-194.6,279.8,-7.1,264,3174,0.00,2.28,0.00,0.000,6,0.000,0.024,2549,2204,3461
$GC,3500,-0.98,-194.6,298.0,-4.9,280,3504,0.00,2.35,0.00,0.000,4,0.000,0.055,2549,3590,3460
$GC,3554,-0.98,-194.6,300.9,-5.5,282,3561,0.00,2.30,0.00,0.000,6,0.000,0.024,2549,2201,3459
$GC,3888,-0.98,-194.6,322.5,-6.9,291,3892,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,3596,3458
$GC,3942,-0.98,-194.6,326.3,-6.8,292,3947,0.00,2.30,0.00,0.000,6,0.000,0.024,2549,2206,3458
$GC,4255,-0.98,-194.6,345.8,-6.5,300,4259,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,805,3456
$GC,4315,-0.98,-194.6,349.1,-5.2,301,4320,0.00,2.30,0.00,0.000,6,0.000,0.026,2548,2187,3456
$GC,4665,-0.98,-194.6,370.3,-7.1,310,4669,0.00,2.40,0.00,0.000,4,0.000,0.043,2549,3594,3454
$GC,4713,-0.98,-194.6,374.3,-8.3,311,4718,0.00,2.33,0.00,0.000,6,0.000,0.025,2548,2204,3453
$GC,5032,-0.98,-194.6,393.6,-5.4,319,5036,0.00,2.38,0.00,0.000,4,0.000,0.041,2548,805,3451
$GC,5053,-0.98,-194.6,394.7,-5.4,319,5057,0.00,2.33,0.00,0.000,6,0.000,0.061,2548,2205,3451
$GC,5394,-0.98,-194.6,414.2,-6.5,328,5399,0.00,2.40,0.00,0.000,4,0.000,0.046,2549,3600,3449
$GC,5437,-0.98,-194.6,417.7,-8.3,329,5442,0.00,2.35,0.00,0.000,6,0.000,0.027,2548,2198,3449
$GC,5762,-0.98,-194.6,446.8,-9.6,337,5766,0.00,2.40,0.00,0.000,4,0.000,0.043,2549,796,3446
$STATE,5799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5799,begin apogee
$GC,5806,-0.31,0.0,450.6,10.7,338,5965,0.70,0.00,156.12,0.877,6,0.068,0.000,2700,2149,2664
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,0.98,194.6,462.8,0.0,342,6131,1.27,0.00,160.65,0.851,6,0.105,0.000,2984,2148,1870
$GC,6445,0.98,194.6,431.0,9.7,354,6449,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,751,1860
$GC,6545,0.98,194.6,420.3,11.2,356,6550,0.00,2.38,0.00,0.000,6,0.000,0.029,2984,2146,1857
$GC,6858,0.98,194.6,387.5,11.1,364,6862,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,3554,1857
$GC,6947,0.98,194.6,377.6,11.1,366,6951,0.00,2.35,0.00,0.000,6,0.000,0.028,2984,2155,1857
$GC,7264,0.98,194.6,352.1,7.5,374,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2154,1855
$GC,7589,0.99,205.4,328.2,7.2,382,7598,0.00,0.00,7.65,0.716,6,0.000,0.000,2984,2154,1826
$GC,7914,1.02,232.9,306.8,6.8,390,7944,0.00,2.47,25.60,0.789,4,0.000,0.074,2984,3552,1713
$GC,8021,1.02,232.9,298.5,7.7,392,8026,0.00,2.40,0.00,0.000,6,0.000,0.028,2984,2146,1712
$GC,8348,1.02,232.9,267.4,11.5,408,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2144,1708
$GC,8658,1.04,249.0,238.8,7.1,423,8680,0.00,2.45,14.25,0.713,4,0.000,0.044,2984,752,1647
$GC,8740,1.05,251.9,233.0,7.4,426,8747,0.00,2.38,0.00,0.000,6,0.000,0.034,2984,2155,1644
$GC,9055,1.05,251.9,201.3,12.0,442,9059,0.00,2.38,0.00,0.000,4,0.000,0.040,2984,3551,1643
$GC,9117,1.05,251.9,194.0,11.7,447,9121,0.00,2.35,0.00,0.000,6,0.000,0.035,2985,2138,1644
$GC,9441,1.08,276.0,170.3,6.9,477,9472,0.00,2.47,24.20,0.670,4,0.000,0.070,2984,3553,1537
$GC,9522,1.08,276.0,163.2,9.5,484,9529,0.00,2.35,0.00,0.000,6,0.000,0.044,2984,2155,1537
$GC,9849,1.10,298.0,136.8,6.9,515,9875,0.12,2.45,19.92,0.626,4,0.053,0.071,3021,763,1448
$GC,9897,1.10,298.0,132.3,9.7,519,9904,0.00,2.33,0.00,0.000,6,0.000,0.022,3021,2160,1446
$GC,10224,1.10,298.0,102.0,8.0,550,10228,0.00,2.40,0.00,0.000,4,0.000,0.058,3021,752,1444
$GC,10300,1.10,298.0,95.1,8.9,556,10308,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2150,1442
$GC,10627,1.10,298.0,64.8,10.1,587,10631,0.00,2.38,0.00,0.000,4,0.000,0.069,3021,751,1442
$GC,10703,1.10,298.0,56.5,10.6,593,10711,0.00,2.30,0.00,0.000,6,0.000,0.020,3021,2155,1442
$GC,11032,1.10,298.0,25.7,8.7,628,11038,0.00,2.05,0.00,0.000,4,0.000,0.071,3021,915,1443
$GC,11067,1.10,298.0,22.6,8.5,634,11073,0.00,1.98,0.00,0.000,6,0.000,0.020,3021,2159,1443
$STATE,11302,end climb,SURFACE_DEPTH_REACHED
$STATE,11302,begin surface coast
$FINISH,0.4,1.023269
$STATE,11337,end surface coast,CONTROL_FINISHED_OK
$STATE,11337,begin surface
$SM_CCo,11355,10.55,0.475,0,0,1400,310.06
$SM_GC,2.03,0.00,0.00,10.55,0.000,0.000,0.475,418,2162,1400,-10.82,-1.07,310.06
$IRIDIUM_FIX,2059.45,-15750.89,140797,151503
$TT8_MAMPS,0.029146
$HUMID,1802
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.10
$XPDR_PINGS,628
$24V_AH,23.6,15.001
$10V_AH,10.2,7.937
$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,25.525,121.450,408.400,10.550,0.000,83.190,95.607,578.346,166.000,0.000,0.000,16.007,1238.253,8102.241,564.174,1546.447,906.819,33.368,1311.195,0.000,1515.576,0.000,57.451
$DEVICE_MAMPS,164.905,76.700,876.681,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.716,436.061,763.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34838,682
$CAP_FILE_SIZE,110864,12
$CFSIZE,260165632,253861888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,190537,2108.262,-15753.730,36,1.3,36,9.8