version: 66.03
glider: 139
mission: 2
dive: 92
start: 4 20 108 5 9 42
data:
$ID,139
$MISSION,2
$DIVE,92
$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,210
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1253914.8
$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,34
$R_STBD_OVSHOOT,50
$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
$GPS1,050237,2108.039,-15752.962,37,1.7,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.9
$GPS2,050850,2108.070,-15752.973,30,1.4,30,9.8
$SPEED_LIMITS,0.091,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.214,-0.159
$KALMAN_X,-89706.1,427.9,-846.0,89239.9,-213.4
$KALMAN_Y,-21287.2,206.1,-112.1,8057.1,-544.8
$MHEAD_RNG_PITCHd_Wd,116.8,14916,-11.2,-7.143
$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,16,begin dive
$GC,17,-0.94,-194.6,0.0,0.0,0,74,0.00,0.00,-54.67,0.000,2,0.000,0.000,424,2162,2862
$GC,76,-0.94,-194.6,3.5,-7.4,10,106,12.12,2.30,-11.40,0.000,4,0.160,0.047,2556,796,3459
$GC,150,-0.94,-194.6,17.3,-12.0,23,157,0.00,2.25,0.00,0.000,6,0.000,0.019,2557,2203,3460
$GC,486,-0.94,-194.6,56.6,-11.6,64,490,0.00,2.30,0.00,0.000,4,0.000,0.032,2557,3587,3461
$GC,518,-0.94,-194.6,60.1,-10.2,66,526,0.00,2.30,0.00,0.000,6,0.000,0.019,2557,2185,3460
$GC,843,-0.94,-194.6,89.8,-9.7,97,847,0.00,2.35,0.00,0.000,4,0.000,0.032,2557,3586,3461
$GC,888,-0.94,-194.6,94.1,-9.9,101,892,0.00,2.25,0.00,0.000,6,0.000,0.020,2556,2192,3461
$GC,1212,-0.94,-194.6,118.7,-5.9,131,1216,0.00,2.35,0.00,0.000,4,0.000,0.032,2557,3594,3462
$GC,1238,-0.94,-194.6,120.3,-6.3,133,1245,0.00,2.30,0.00,0.000,6,0.000,0.020,2557,2193,3462
$GC,1563,-0.94,-194.6,144.8,-10.0,164,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2191,3462
$GC,1882,-0.94,-194.6,174.2,-5.8,194,1886,0.00,2.35,0.00,0.000,4,0.000,0.033,2557,3594,3463
$GC,1937,-0.94,-194.6,177.6,-6.2,198,1944,0.00,2.25,0.00,0.000,6,0.000,0.020,2556,2192,3463
$GC,2261,-0.94,-194.6,196.5,-7.2,229,2265,0.00,2.33,0.00,0.000,4,0.000,0.035,2556,800,3463
$GC,2326,-0.94,-194.6,201.6,-7.7,234,2331,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2196,3464
$GC,2653,-0.94,-194.6,224.9,-7.4,250,2657,0.00,2.33,0.00,0.000,4,0.000,0.037,2557,3587,3464
$GC,2697,-0.94,-194.6,228.6,-8.5,252,2702,0.00,2.25,0.00,0.000,6,0.000,0.021,2557,2198,3464
$GC,3024,-0.94,-194.6,250.7,-5.7,268,3028,0.00,2.33,0.00,0.000,4,0.000,0.036,2556,809,3463
$GC,3091,-0.94,-194.6,255.1,-6.7,271,3095,0.00,2.25,0.00,0.000,6,0.000,0.023,2557,2195,3463
$GC,3416,-0.94,-194.6,276.6,-7.8,287,3421,0.00,2.35,0.00,0.000,4,0.000,0.039,2557,3589,3462
$GC,3456,-0.94,-194.6,280.0,-9.0,289,3460,0.00,2.28,0.00,0.000,6,0.000,0.023,2556,2195,3462
$GC,3781,-0.94,-194.6,304.1,-7.0,304,3785,0.00,2.35,0.00,0.000,4,0.000,0.038,2556,804,3461
$GC,3819,-0.94,-194.6,306.8,-7.3,305,3823,0.00,2.28,0.00,0.000,6,0.000,0.025,2557,2193,3461
$GC,4149,-0.94,-194.6,327.4,-6.4,313,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2194,3459
$GC,4474,-0.94,-194.6,345.9,-5.2,321,4479,0.00,2.35,0.00,0.000,4,0.000,0.050,2556,810,3457
$GC,4518,-0.94,-194.6,348.2,-5.2,322,4522,0.00,2.30,0.00,0.000,6,0.000,0.032,2556,2208,3457
$GC,4842,-0.94,-194.6,364.6,-5.3,330,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2209,3455
$GC,5168,-0.94,-194.6,380.4,-4.5,338,5172,0.00,2.38,0.00,0.000,4,0.000,0.039,2556,811,3454
$GC,5199,-0.94,-194.6,382.1,-5.0,338,5206,0.00,2.33,0.00,0.000,6,0.000,0.061,2557,2194,3453
$GC,5531,-0.94,-194.6,402.1,-6.7,347,5536,0.00,2.42,0.00,0.000,4,0.000,0.045,2557,3601,3451
$GC,5558,-0.94,-194.6,404.1,-7.1,347,5562,0.00,2.33,0.00,0.000,6,0.000,0.026,2557,2211,3451
$GC,5895,-0.94,-194.6,426.9,-6.8,356,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2210,3449
$GC,6219,-0.94,-194.6,445.2,-5.1,364,6224,0.00,2.40,0.00,0.000,4,0.000,0.042,2556,807,3448
$GC,6241,-0.94,-194.6,446.2,-4.7,364,6245,0.00,2.33,0.00,0.000,6,0.000,0.063,2557,2199,3447
$STATE,6340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6340,begin apogee
$GC,6344,-0.31,0.0,451.3,5.3,367,6502,0.65,0.00,155.98,0.884,6,0.058,0.000,2702,2199,2664
$STATE,6503,end apogee,CONTROL_FINISHED_OK
$STATE,6503,begin climb
$GC,6505,0.94,194.6,458.4,0.0,371,6673,1.20,2.58,159.27,0.854,4,0.046,0.074,2974,751,1868
$GC,6706,0.94,194.6,444.9,11.4,376,6710,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2156,1862
$GC,7035,0.94,194.6,409.1,10.8,384,7039,0.00,2.42,0.00,0.000,4,0.000,0.045,2974,3550,1858
$GC,7083,0.94,194.6,403.8,10.8,385,7088,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2158,1858
$GC,7402,0.94,194.6,375.3,8.6,393,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2157,1856
$GC,7726,0.94,194.6,350.4,7.2,401,7731,0.00,2.45,0.00,0.000,4,0.000,0.077,2974,747,1854
$GC,7781,0.94,194.6,346.0,8.2,402,7786,0.00,2.38,0.00,0.000,6,0.000,0.029,2974,2149,1852
$GC,8094,0.94,194.6,321.3,8.1,410,8098,0.00,2.45,0.00,0.000,4,0.000,0.077,2974,741,1852
$GC,8154,0.94,194.6,315.9,9.1,411,8159,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2151,1850
$GC,8483,0.94,194.6,288.7,9.1,422,8487,0.00,2.40,0.00,0.000,4,0.000,0.076,2974,3545,1850
$GC,8527,0.94,194.6,284.1,10.8,424,8531,0.00,2.35,0.00,0.000,6,0.000,0.028,2974,2155,1850
$GC,8853,0.94,194.6,255.4,8.0,440,8857,0.00,2.40,0.00,0.000,4,0.000,0.077,2974,3547,1850
$GC,8880,0.94,194.6,253.2,8.6,441,8884,0.00,2.35,0.00,0.000,6,0.000,0.026,2974,2152,1849
$GC,9201,0.94,194.6,224.5,9.1,457,9205,0.00,2.40,0.00,0.000,4,0.000,0.077,2974,751,1849
$GC,9232,0.94,194.6,221.7,8.7,458,9240,0.00,2.35,0.00,0.000,6,0.000,0.062,2974,2153,1848
$GC,9548,0.94,196.4,199.4,7.1,474,9552,0.00,2.38,0.00,0.000,4,0.000,0.040,2974,3543,1848
$GC,9613,0.94,196.4,193.2,9.8,479,9620,0.00,2.35,0.00,0.000,6,0.000,0.032,2974,2147,1848
$GC,9939,0.94,196.4,166.6,7.6,510,9943,0.00,2.38,0.00,0.000,4,0.000,0.039,2974,753,1848
$GC,9994,0.94,196.4,162.2,7.9,514,10001,0.00,2.30,0.00,0.000,6,0.000,0.025,2974,2163,1847
$GC,10319,1.02,263.0,141.0,5.5,545,10383,0.00,2.50,55.50,0.655,4,0.000,0.038,2974,753,1589
$GC,10428,1.03,271.5,134.2,6.9,555,10443,0.00,2.30,8.05,0.568,6,0.000,0.023,2974,2153,1557
$GC,10768,1.06,291.9,110.5,6.6,587,10789,0.12,0.00,18.58,0.596,6,0.051,0.000,3011,2155,1473
$GC,11107,1.06,291.9,79.7,10.2,619,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2155,1469
$GC,11425,1.06,291.9,49.7,7.5,649,11429,0.00,2.38,0.00,0.000,4,0.000,0.035,3011,751,1469
$GC,11469,1.06,291.9,46.2,8.8,653,11473,0.00,2.28,0.00,0.000,6,0.000,0.058,3011,2155,1467
$GC,11799,1.06,291.9,21.9,8.0,691,11805,0.00,2.38,0.00,0.000,4,0.000,0.043,3011,748,1467
$GC,11963,1.06,291.9,7.4,10.5,720,11970,0.00,2.25,0.00,0.000,6,0.000,0.020,3011,2161,1467
$STATE,12019,end climb,SURFACE_DEPTH_REACHED
$STATE,12019,begin surface coast
$FINISH,0.0,1.023504
$STATE,12060,end surface coast,CONTROL_FINISHED_OK
$STATE,12060,begin surface
$SM_CCo,12078,15.50,0.495,0,0,1400,310.06
$SM_GC,1.18,0.00,0.00,15.50,0.000,0.000,0.495,423,2164,1400,-10.80,-0.99,310.06
$IRIDIUM_FIX,2101.76,-15756.04,150797,010126
$TT8_MAMPS,0.029146
$HUMID,1790
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.20
$XPDR_PINGS,652
$24V_AH,23.6,15.530
$10V_AH,10.2,8.245
$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,25.175,121.950,397.375,15.500,0.000,27.845,33.442,191.341,172.000,0.000,0.000,32.106,1318.945,8593.704,502.943,1658.747,388.541,33.377,1312.633,0.000,1606.644,0.000,57.434
$DEVICE_MAMPS,160.303,77.467,883.584,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.361,482.103,837.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38079,737
$CAP_FILE_SIZE,105505,7
$CFSIZE,260165632,253673472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,083232,2106.837,-15751.983,41,1.0,41,9.8