version: 66.03
glider: 139
mission: 2
dive: 97
start: 4 20 108 22 14 26
data:
$ID,139
$MISSION,2
$DIVE,97
$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,-1253985.1
$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,26
$R_STBD_OVSHOOT,59
$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
$GPS1,220408,2104.090,-15749.373,32,1.4,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.0
$GPS2,221333,2103.997,-15749.347,11,1.5,11,9.8
$SPEED_LIMITS,0.091,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.265,-0.021
$KALMAN_X,-99919.9,-103.4,681.1,104710.9,-2008.5
$KALMAN_Y,-25598.1,-166.2,196.4,4890.4,-743.0
$MHEAD_RNG_PITCHd_Wd,84.7,5200,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.94,-194.6,0.0,0.0,0,80,0.00,0.00,-60.35,0.000,2,0.000,0.000,425,2209,2942
$GC,81,-0.94,-194.6,3.7,-7.4,11,111,12.25,2.42,-9.52,0.000,4,0.163,0.046,2558,794,3460
$GC,139,-0.94,-194.6,17.2,-17.2,21,145,0.00,2.25,0.00,0.000,6,0.000,0.019,2558,2199,3461
$GC,475,-0.94,-194.6,55.5,-10.6,62,479,0.00,2.33,0.00,0.000,4,0.000,0.033,2558,3593,3462
$GC,553,-0.94,-194.6,62.9,-8.9,68,560,0.00,2.28,0.00,0.000,6,0.000,0.020,2558,2176,3461
$GC,877,-0.94,-194.6,91.7,-9.4,99,881,0.00,2.30,0.00,0.000,4,0.000,0.034,2558,799,3462
$GC,894,-0.94,-194.6,93.1,-8.8,100,898,0.00,2.25,0.00,0.000,6,0.000,0.054,2558,2200,3462
$GC,1223,-0.94,-194.6,122.4,-8.2,131,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2203,3462
$GC,1543,-0.94,-194.6,148.4,-8.4,161,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2204,3462
$GC,1861,-0.94,-194.6,171.7,-6.1,191,1865,0.00,2.33,0.00,0.000,4,0.000,0.033,2558,807,3463
$GC,1910,-0.94,-194.6,174.8,-6.2,195,1917,0.00,2.28,0.00,0.000,6,0.000,0.056,2558,2199,3463
$GC,2235,-0.94,-194.6,194.8,-6.7,226,2239,0.00,2.33,0.00,0.000,4,0.000,0.034,2558,808,3463
$GC,2261,-0.94,-194.6,196.7,-7.7,228,2265,0.00,2.25,0.00,0.000,6,0.000,0.021,2558,2201,3463
$GC,2583,-0.94,-194.6,217.4,-6.1,246,2587,0.00,2.33,0.00,0.000,4,0.000,0.037,2558,3590,3462
$GC,2632,-0.94,-194.6,220.6,-6.1,248,2637,0.00,2.28,0.00,0.000,6,0.000,0.021,2558,2204,3462
$GC,2954,-0.94,-194.6,241.5,-7.5,264,2958,0.00,2.35,0.00,0.000,4,0.000,0.036,2558,801,3462
$GC,3008,-0.94,-194.6,246.1,-9.0,266,3015,0.00,2.30,0.00,0.000,6,0.000,0.028,2558,2197,3462
$GC,3323,-0.94,-194.6,269.0,-6.9,282,3327,0.00,2.35,0.00,0.000,4,0.000,0.039,2558,3597,3461
$GC,3350,-0.94,-194.6,271.0,-7.5,283,3355,0.00,2.30,0.00,0.000,6,0.000,0.023,2558,2202,3461
$GC,3677,-0.94,-194.6,292.2,-5.9,299,3681,0.00,2.35,0.00,0.000,4,0.000,0.037,2557,808,3460
$GC,3731,-0.94,-194.6,295.6,-6.1,301,3738,0.00,2.30,0.00,0.000,6,0.000,0.027,2558,2193,3459
$GC,4064,-0.94,-194.6,312.1,-4.8,312,4068,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,3591,3458
$GC,4095,-0.94,-194.6,313.9,-5.8,312,4102,0.00,2.30,0.00,0.000,6,0.000,0.024,2558,2202,3457
$GC,4427,-0.94,-194.6,330.7,-5.3,321,4431,0.00,2.35,0.00,0.000,4,0.000,0.038,2557,808,3456
$GC,4466,-0.94,-194.6,333.1,-6.6,322,4470,0.00,2.30,0.00,0.000,6,0.000,0.025,2558,2205,3456
$GC,4789,-0.94,-194.6,349.5,-4.8,330,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2206,3454
$GC,5114,-0.94,-194.6,365.9,-5.2,338,5118,0.00,2.38,0.00,0.000,4,0.000,0.038,2558,807,3452
$GC,5158,-0.94,-194.6,368.7,-6.7,339,5162,0.00,2.30,0.00,0.000,6,0.000,0.027,2558,2199,3452
$GC,5482,-0.94,-194.6,388.6,-6.1,347,5486,0.00,2.40,0.00,0.000,4,0.000,0.044,2558,3603,3450
$GC,5524,-0.94,-194.6,391.6,-7.3,348,5529,0.00,2.35,0.00,0.000,6,0.000,0.058,2558,2201,3450
$GC,5851,-0.94,-194.6,408.6,-4.8,356,5855,0.00,2.38,0.00,0.000,4,0.000,0.047,2558,803,3448
$GC,5899,-0.94,-194.6,411.4,-5.4,357,5904,0.00,2.35,0.00,0.000,6,0.000,0.039,2558,2200,3448
$GC,6219,-0.94,-194.6,430.6,-6.4,365,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2201,3447
$STATE,6542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6547,-0.31,0.0,450.3,5.7,373,6706,0.68,0.00,155.95,0.881,6,0.065,0.000,2704,2140,2664
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6708,0.94,194.6,457.2,0.0,377,6872,1.20,0.00,159.68,0.853,6,0.046,0.000,2976,2139,1870
$GC,7194,0.94,194.6,425.1,7.7,389,7198,0.00,2.47,0.00,0.000,4,0.000,0.045,2976,3553,1860
$GC,7237,0.94,194.6,422.0,7.2,390,7241,0.00,2.38,0.00,0.000,6,0.000,0.033,2976,2167,1861
$GC,7561,0.97,224.6,402.0,6.4,398,7591,0.00,2.53,25.40,0.826,4,0.000,0.054,2976,743,1747
$GC,7612,0.97,224.6,397.9,8.0,399,7617,0.00,2.40,0.00,0.000,6,0.000,0.029,2976,2142,1743
$GC,7925,0.97,224.6,367.6,10.3,407,7929,0.00,2.45,0.00,0.000,4,0.000,0.076,2976,3552,1740
$GC,7952,0.97,224.6,364.5,11.5,407,7956,0.00,2.40,0.00,0.000,6,0.000,0.034,2976,2149,1740
$GC,8290,0.97,224.6,327.9,10.4,416,8294,0.00,2.42,0.00,0.000,4,0.000,0.044,2976,750,1738
$GC,8394,0.97,224.6,317.1,10.0,418,8399,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2155,1736
$GC,8724,0.97,224.6,288.1,8.4,429,8728,0.00,2.45,0.00,0.000,4,0.000,0.077,2976,742,1736
$GC,8800,0.97,224.6,281.0,9.3,432,8807,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2153,1734
$GC,9116,0.97,224.6,258.1,7.6,448,9120,0.00,2.42,0.00,0.000,4,0.000,0.059,2976,750,1734
$GC,9136,0.97,224.6,256.5,7.8,449,9141,0.00,2.35,0.00,0.000,6,0.000,0.062,2976,2143,1734
$GC,9464,0.97,224.6,230.4,8.4,465,9468,0.00,2.40,0.00,0.000,4,0.000,0.041,2976,749,1734
$GC,9512,0.97,224.6,225.6,9.5,467,9517,0.00,2.35,0.00,0.000,6,0.000,0.027,2976,2151,1732
$GC,9834,0.97,224.6,198.2,8.2,484,9838,0.00,2.38,0.00,0.000,4,0.000,0.041,2976,3546,1733
$GC,9935,0.98,227.0,190.4,7.1,492,9941,0.00,2.30,0.00,0.000,6,0.000,0.025,2975,2144,1733
$GC,10260,1.00,243.7,169.0,6.7,523,10282,0.00,2.40,15.57,0.659,4,0.000,0.041,2976,751,1668
$GC,10422,1.02,259.1,157.3,6.8,537,10441,0.00,2.30,14.52,0.639,6,0.000,0.024,2976,2160,1607
$GC,10767,1.02,263.3,136.9,7.0,570,10779,0.00,2.42,4.93,0.488,4,0.000,0.037,2976,746,1589
$GC,10828,1.02,263.3,131.9,8.6,575,10835,0.00,2.33,0.00,0.000,6,0.000,0.031,2976,2147,1588
$GC,11156,1.03,269.9,108.9,7.0,606,11168,0.00,2.45,7.18,0.524,4,0.000,0.035,2976,749,1563
$GC,11190,1.03,269.9,106.1,7.7,609,11194,0.00,2.30,0.00,0.000,6,0.000,0.021,2976,2160,1561
$GC,11515,1.03,269.9,82.6,7.3,639,11519,0.00,2.38,0.00,0.000,4,0.000,0.035,2976,752,1561
$GC,11582,1.03,269.9,76.6,9.2,645,11586,0.00,2.25,0.00,0.000,6,0.000,0.021,2976,2151,1561
$GC,11907,1.06,292.4,53.0,6.6,675,11938,0.10,2.42,21.05,0.540,4,0.056,0.033,3010,3547,1471
$GC,11972,1.06,292.4,47.7,7.8,681,11976,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2138,1471
$GC,12300,1.06,292.4,23.7,8.4,718,12306,0.00,2.35,0.00,0.000,4,0.000,0.067,3010,3543,1470
$GC,12363,1.10,323.2,19.3,6.4,729,12397,0.00,2.25,27.55,0.515,6,0.000,0.021,3010,2144,1346
$STATE,12546,end climb,SURFACE_DEPTH_REACHED
$STATE,12547,begin surface coast
$FINISH,0.0,1.023331
$STATE,12581,end surface coast,CONTROL_FINISHED_OK
$STATE,12582,begin surface
$SM_CCo,12660,0.00,0.000,0,0,1339,324.78
$SM_GC,1.00,11.05,0.00,0.00,0.026,0.000,0.000,420,2143,1339,-10.71,-1.58,324.78
$IRIDIUM_FIX,2057.14,-15751.76,150797,222229
$TT8_MAMPS,0.028379
$HUMID,1755
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.00
$XPDR_PINGS,701
$24V_AH,23.6,16.215
$10V_AH,10.2,8.635
$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,25.275,131.675,431.825,0.000,0.000,52.620,54.663,284.223,184.250,0.000,0.000,12.856,1365.676,9036.882,536.561,1735.287,542.435,33.367,1390.849,0.000,1702.387,0.000,57.426
$DEVICE_MAMPS,163.371,97.409,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.440,499.361,866.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38030,768
$CAP_FILE_SIZE,113763,7
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,014637,2103.246,-15748.153,37,1.1,37,9.8