version: 66.03
glider: 139
mission: 2
dive: 104
start: 4 21 108 20 44 38
data:
$ID,139
$MISSION,2
$DIVE,104
$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,-1254103.8
$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,49
$R_STBD_OVSHOOT,55
$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
$GPS1,203738,2102.575,-15746.618,26,1.0,26,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.7
$GPS2,204345,2102.609,-15746.580,13,1.0,13,9.8
$SPEED_LIMITS,0.091,0.266
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.189,0.187
$KALMAN_X,-103277.1,-74.5,408.1,113085.5,287.5
$KALMAN_Y,-28708.6,-357.2,559.6,5253.9,-421.9
$MHEAD_RNG_PITCHd_Wd,304.8,18931,-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,18,-0.94,-194.6,0.0,0.0,0,70,0.00,0.00,-49.50,0.000,2,0.000,0.000,427,2182,2854
$GC,72,-0.94,-194.6,3.4,-6.8,9,102,12.12,2.35,-11.70,0.000,4,0.160,0.074,2557,3586,3460
$GC,303,-0.94,-194.6,34.9,-11.8,46,310,0.00,2.28,0.00,0.000,6,0.000,0.020,2557,2209,3461
$GC,628,-0.94,-194.6,71.9,-9.9,77,632,0.00,2.35,0.00,0.000,4,0.000,0.034,2557,804,3462
$GC,695,-0.94,-194.6,78.3,-9.1,83,699,0.00,2.25,0.00,0.000,6,0.000,0.019,2558,2201,3463
$GC,1019,-0.94,-194.6,107.3,-7.6,113,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2204,3464
$GC,1338,-0.94,-194.6,130.9,-8.0,143,1342,0.00,2.33,0.00,0.000,4,0.000,0.068,2557,3593,3464
$GC,1449,-0.94,-194.6,140.4,-8.5,152,1455,0.00,2.30,0.00,0.000,6,0.000,0.021,2557,2192,3464
$GC,1773,-0.94,-194.6,165.1,-8.0,183,1777,0.00,2.35,0.00,0.000,4,0.000,0.034,2557,3590,3464
$GC,1811,-0.94,-194.6,168.7,-9.5,186,1815,0.00,2.25,0.00,0.000,6,0.000,0.020,2557,2195,3464
$GC,2135,-0.94,-194.6,195.0,-7.8,216,2139,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,807,3465
$GC,2167,-0.94,-194.6,197.9,-9.0,218,2174,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2196,3465
$GC,2483,-0.94,-194.6,224.5,-7.0,235,2487,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,810,3465
$GC,2538,-0.94,-194.6,228.3,-6.5,237,2545,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2197,3465
$GC,2854,-0.94,-194.6,245.6,-6.9,253,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3464
$GC,3162,-0.94,-194.6,268.2,-7.6,268,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3463
$GC,3473,-0.94,-194.6,287.1,-5.5,283,3477,0.00,2.35,0.00,0.000,4,0.000,0.037,2557,807,3461
$GC,3505,-0.94,-194.6,289.1,-6.4,284,3512,0.00,2.30,0.00,0.000,6,0.000,0.025,2557,2194,3461
$GC,3820,-0.94,-194.6,308.0,-6.0,297,3824,0.00,2.38,0.00,0.000,4,0.000,0.048,2557,3594,3460
$GC,3858,-0.94,-194.6,310.7,-7.1,298,3862,0.00,2.28,0.00,0.000,6,0.000,0.038,2557,2205,3460
$GC,4182,-0.94,-194.6,331.1,-6.7,306,4187,0.00,2.38,0.00,0.000,4,0.000,0.039,2557,802,3458
$GC,4242,-0.94,-194.6,335.9,-7.9,307,4248,0.00,2.33,0.00,0.000,6,0.000,0.042,2557,2192,3458
$GC,4591,-0.94,-194.6,359.7,-6.6,316,4596,0.00,2.40,0.00,0.000,4,0.000,0.043,2557,3596,3456
$GC,4628,-0.94,-194.6,362.3,-7.2,316,4635,0.00,2.33,0.00,0.000,6,0.000,0.061,2557,2204,3456
$GC,4959,-0.94,-194.6,384.4,-7.1,325,4963,0.00,2.38,0.00,0.000,4,0.000,0.040,2557,804,3454
$GC,5008,-0.94,-194.6,388.1,-7.4,326,5013,0.00,2.33,0.00,0.000,6,0.000,0.035,2557,2192,3454
$GC,5327,-0.94,-194.6,407.5,-5.8,334,5331,0.00,2.42,0.00,0.000,4,0.000,0.044,2557,3601,3453
$GC,5365,-0.94,-194.6,409.7,-6.0,335,5369,0.00,2.33,0.00,0.000,6,0.000,0.036,2557,2198,3453
$GC,5689,-0.94,-194.6,427.1,-5.4,343,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2196,3451
$GC,6014,-0.94,-194.6,446.7,-6.0,351,6017,0.00,1.95,0.00,0.000,4,0.000,0.084,2557,3354,3449
$GC,6051,-0.94,-194.6,449.2,-6.3,351,6058,0.00,1.95,0.00,0.000,6,0.000,0.033,2557,2198,3449
$STATE,6097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6097,begin apogee
$GC,6101,-0.31,0.0,452.0,6.2,353,6261,0.68,0.00,156.45,0.881,6,0.065,0.000,2704,2197,2664
$STATE,6261,end apogee,CONTROL_FINISHED_OK
$STATE,6261,begin climb
$GC,6263,0.94,194.6,459.3,0.0,357,6430,1.20,2.40,160.05,0.855,4,0.046,0.080,2975,3544,1870
$GC,6464,0.94,194.6,450.4,8.9,362,6469,0.00,2.38,0.00,0.000,6,0.000,0.030,2975,2153,1867
$GC,6788,0.94,194.6,421.8,9.1,370,6792,0.00,2.45,0.00,0.000,4,0.000,0.045,2975,3552,1860
$GC,6819,0.94,194.6,418.6,9.5,370,6826,0.00,2.40,0.00,0.000,6,0.000,0.034,2975,2151,1859
$GC,7150,0.94,194.6,388.7,8.7,379,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2149,1857
$GC,7475,0.94,194.6,359.4,9.5,387,7479,0.00,2.45,0.00,0.000,4,0.000,0.045,2975,738,1854
$GC,7501,0.94,194.6,356.5,10.9,387,7506,0.00,2.38,0.00,0.000,6,0.000,0.029,2975,2143,1853
$GC,7838,0.94,194.6,327.7,7.7,396,7842,0.00,2.42,0.00,0.000,4,0.000,0.044,2975,3549,1852
$GC,7871,0.94,194.6,325.0,8.4,396,7877,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2147,1852
$GC,8202,0.94,194.6,300.3,7.5,405,8206,0.00,2.40,0.00,0.000,4,0.000,0.077,2975,746,1851
$GC,8318,0.94,194.6,290.6,8.8,409,8323,0.00,2.38,0.00,0.000,6,0.000,0.061,2975,2154,1849
$GC,8646,0.94,194.6,262.2,9.4,425,8650,0.00,2.40,0.00,0.000,4,0.000,0.043,2975,3550,1849
$GC,8673,0.94,194.6,259.4,9.9,426,8677,0.00,2.38,0.00,0.000,6,0.000,0.035,2975,2143,1849
$GC,8994,0.94,195.7,235.2,7.1,442,8998,0.00,2.40,0.00,0.000,4,0.000,0.042,2975,744,1849
$GC,9204,0.94,195.7,218.0,8.3,451,9210,0.00,2.35,0.00,0.000,6,0.000,0.025,2975,2153,1847
$GC,9528,0.97,219.4,195.3,6.6,470,9552,0.00,2.45,18.70,0.690,4,0.000,0.051,2975,3544,1769
$GC,9604,0.97,219.4,189.4,8.4,477,9608,0.00,2.33,0.00,0.000,6,0.000,0.030,2975,2149,1769
$GC,9929,0.97,219.4,164.8,7.6,507,9933,0.00,2.40,0.00,0.000,4,0.000,0.040,2975,742,1766
$GC,10040,0.97,219.4,155.5,7.9,516,10047,0.00,2.35,0.00,0.000,6,0.000,0.023,2975,2156,1763
$GC,10368,1.01,254.5,134.6,6.3,547,10405,0.00,0.00,31.23,0.641,6,0.000,0.000,2975,2159,1625
$GC,10724,1.08,308.3,109.4,5.8,581,10778,0.12,2.42,46.72,0.614,4,0.050,0.043,3012,752,1405
$GC,10823,1.08,308.3,100.4,10.4,590,10827,0.00,2.30,0.00,0.000,6,0.000,0.022,3012,2153,1401
$GC,11147,1.08,308.3,71.7,8.3,620,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2157,1399
$GC,11466,1.08,308.3,45.8,7.5,650,11470,0.00,2.38,0.00,0.000,4,0.000,0.068,3012,749,1399
$GC,11621,1.08,308.3,32.5,8.8,663,11628,0.00,2.30,0.00,0.000,6,0.000,0.020,3012,2156,1397
$GC,11963,1.08,308.3,4.6,8.1,721,11969,0.00,2.38,0.00,0.000,4,0.000,0.035,3012,747,1397
$STATE,11984,end climb,SURFACE_DEPTH_REACHED
$STATE,11985,begin surface coast
$FINISH,0.1,1.023224
$STATE,12014,end surface coast,CONTROL_FINISHED_OK
$STATE,12014,begin surface
$SM_CCo,12095,0.00,0.000,0,0,1393,311.78
$SM_GC,0.94,11.10,0.00,0.00,0.028,0.000,0.000,422,2210,1393,-10.70,0.28,311.78
$IRIDIUM_FIX,2054.83,-15744.48,160797,171710
$TT8_MAMPS,0.029146
$HUMID,1786
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.70
$XPDR_PINGS,664
$24V_AH,23.6,16.973
$10V_AH,10.2,9.169
$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,25.225,116.975,413.150,0.000,0.000,28.291,27.132,208.114,175.000,0.000,0.000,15.184,1311.914,8545.570,514.088,1674.167,412.141,33.364,1329.518,0.000,1644.717,0.000,57.440
$DEVICE_MAMPS,160.303,84.370,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.232,480.391,829.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38037,730
$CAP_FILE_SIZE,104481,7
$CFSIZE,260165632,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,000726,2103.499,-15747.206,39,1.5,39,9.8