version: 66.03
glider: 139
mission: 2
dive: 109
start: 4 22 108 13 54 49
data:
$ID,139
$MISSION,2
$DIVE,109
$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,290
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-1254182
$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,38
$R_STBD_OVSHOOT,57
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,134731,2106.158,-15751.989,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-59.9
$GPS2,135356,2106.116,-15752.050,9,1.0,14,9.8
$SPEED_LIMITS,0.124,0.311
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,0.309
$KALMAN_X,-100946.7,-501.2,154.8,102003.2,-661.2
$KALMAN_Y,-36304.5,-492.9,-73.9,20119.4,-2251.8
$MHEAD_RNG_PITCHd_Wd,342.8,7752,-8.7,-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,-0.89,-282.2,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,422,2149,2888
$GC,93,-0.89,-282.2,3.7,-7.7,13,128,12.18,0.88,-16.92,0.000,4,0.160,0.147,2567,2731,3818
$GC,353,-0.89,-282.2,33.7,-8.8,55,357,0.00,0.85,0.00,0.000,6,0.000,0.022,2566,2185,3819
$GC,683,-0.89,-282.2,65.0,-11.0,86,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2184,3819
$GC,1001,-0.89,-282.2,98.8,-11.2,116,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2184,3819
$GC,1320,-0.89,-282.2,128.1,-6.6,146,1324,0.00,2.30,0.00,0.000,4,0.000,0.035,2567,809,3819
$GC,1351,-0.89,-282.2,130.2,-5.9,148,1359,0.00,2.25,0.00,0.000,6,0.000,0.019,2567,2195,3819
$GC,1679,-0.89,-282.2,148.6,-7.6,179,1683,0.00,2.30,0.00,0.000,4,0.000,0.068,2567,818,3819
$GC,1717,-0.89,-282.2,151.4,-6.7,182,1722,0.00,2.22,0.00,0.000,6,0.000,0.021,2567,2201,3820
$GC,2043,-0.89,-282.2,176.5,-8.2,212,2047,0.00,2.33,0.00,0.000,4,0.000,0.068,2567,813,3820
$GC,2105,-0.89,-282.2,181.1,-7.1,217,2109,0.00,2.25,0.00,0.000,6,0.000,0.020,2567,2209,3820
$GC,2436,-0.89,-282.2,200.3,-5.6,248,2440,0.00,2.33,0.00,0.000,4,0.000,0.039,2567,3590,3821
$GC,2463,-0.89,-282.2,202.4,-7.0,249,2468,0.00,2.25,0.00,0.000,6,0.000,0.020,2567,2212,3821
$GC,2784,-0.89,-282.2,226.7,-7.9,265,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2211,3821
$GC,3093,-0.89,-282.2,244.8,-5.3,280,3097,0.00,2.33,0.00,0.000,4,0.000,0.037,2567,3589,3820
$GC,3119,-0.89,-282.2,246.4,-6.1,281,3124,0.00,2.28,0.00,0.000,6,0.000,0.022,2566,2210,3820
$GC,3441,-0.89,-282.2,264.0,-5.1,297,3445,0.00,2.35,0.00,0.000,4,0.000,0.036,2567,806,3820
$GC,3467,-0.89,-282.2,265.4,-5.3,298,3472,0.00,2.28,0.00,0.000,6,0.000,0.023,2567,2188,3819
$GC,3788,-0.89,-282.2,283.6,-6.8,314,3792,0.00,2.33,0.00,0.000,4,0.000,0.036,2567,807,3818
$GC,3815,-0.89,-282.2,285.8,-7.8,315,3819,0.00,2.30,0.00,0.000,6,0.000,0.024,2567,2196,3818
$GC,4133,-0.89,-282.2,314.5,-8.8,327,4137,0.00,2.35,0.00,0.000,4,0.000,0.035,2567,800,3817
$GC,4323,-0.89,-282.2,330.4,-8.5,331,4328,0.00,2.30,0.00,0.000,6,0.000,0.024,2567,2210,3816
$GC,4636,-0.89,-282.2,355.5,-8.3,339,4640,0.00,2.38,0.00,0.000,4,0.000,0.036,2567,799,3813
$GC,4776,-0.89,-282.2,368.4,-10.7,342,4780,0.00,2.28,0.00,0.000,6,0.000,0.025,2567,2197,3813
$GC,5087,-0.89,-282.2,397.3,-9.0,350,5091,0.00,2.35,0.00,0.000,4,0.000,0.038,2567,807,3811
$GC,5119,-0.89,-282.2,400.4,-9.4,350,5127,0.00,2.30,0.00,0.000,6,0.000,0.025,2567,2195,3811
$GC,5451,-0.89,-282.2,429.9,-9.5,359,5455,0.00,2.40,0.00,0.000,4,0.000,0.044,2567,3595,3808
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5656,-0.31,0.0,450.0,10.9,363,5885,0.57,0.00,225.95,0.871,6,0.041,0.000,2705,2152,2664
$STATE,5886,end apogee,CONTROL_FINISHED_OK
$STATE,5886,begin climb
$GC,5888,0.89,282.2,469.7,0.0,369,6131,1.12,2.40,230.38,0.848,4,0.041,0.047,2966,760,1511
$GC,6247,0.89,282.2,446.2,10.0,377,6252,0.00,2.35,0.00,0.000,6,0.000,0.038,2967,2140,1502
$GC,6590,0.89,282.2,412.1,10.3,386,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2143,1501
$GC,6915,0.89,282.2,377.6,11.0,394,6919,0.00,2.40,0.00,0.000,4,0.000,0.045,2966,760,1499
$GC,7014,0.89,282.2,365.4,11.5,396,7019,0.00,2.35,0.00,0.000,6,0.000,0.029,2966,2144,1496
$GC,7327,0.89,282.2,327.9,11.9,404,7331,0.00,2.42,0.00,0.000,4,0.000,0.049,2966,755,1496
$GC,7365,0.89,282.2,323.4,12.0,405,7369,0.00,1.83,0.00,0.000,6,0.000,0.055,2967,1882,1495
$GC,7696,0.89,282.2,289.2,10.4,415,7700,0.00,2.88,0.00,0.000,4,0.000,0.041,2967,3553,1494
$GC,7801,0.89,282.2,278.3,9.5,420,7806,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2149,1495
$GC,8127,0.94,316.9,256.1,6.6,436,8169,0.00,2.47,30.83,0.726,4,0.000,0.077,2966,744,1371
$GC,8246,0.94,316.9,247.1,7.8,441,8251,0.00,2.38,0.00,0.000,6,0.000,0.027,2966,2150,1366
$GC,8568,0.94,316.9,215.3,12.3,457,8572,0.00,2.38,0.00,0.000,4,0.000,0.040,2966,3550,1365
$GC,8612,0.94,316.9,210.2,11.7,459,8617,0.00,2.35,0.00,0.000,6,0.000,0.026,2966,2142,1365
$GC,8935,0.94,316.9,185.0,7.9,483,8939,0.00,2.40,0.00,0.000,4,0.000,0.048,2967,750,1364
$GC,8989,0.94,316.9,180.8,8.1,487,8996,0.00,2.35,0.00,0.000,6,0.000,0.025,2966,2157,1363
$GC,9314,0.94,316.9,153.7,9.7,518,9319,0.00,2.42,0.00,0.000,4,0.000,0.039,2966,745,1362
$GC,9357,0.94,316.9,149.4,9.7,521,9365,0.00,2.35,0.00,0.000,6,0.000,0.023,2966,2155,1361
$GC,9684,1.07,426.8,130.1,5.3,552,9783,0.15,2.45,92.65,0.637,4,0.045,0.067,3010,752,922
$GC,9895,1.07,426.8,111.4,10.1,571,9899,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2158,916
$GC,10220,1.07,426.8,80.8,9.6,601,10223,0.00,2.38,0.00,0.000,4,0.000,0.037,3009,750,916
$GC,10336,1.07,426.8,70.0,9.9,611,10343,0.00,2.30,0.00,0.000,6,0.000,0.054,3010,2153,914
$GC,10662,1.07,426.8,35.8,11.2,642,10666,0.00,2.40,0.00,0.000,4,0.000,0.071,3010,744,914
$GC,10779,1.07,426.8,24.5,9.8,657,10786,0.00,2.28,0.03,0.256,6,0.000,0.020,3010,2164,914
$STATE,11016,end climb,SURFACE_DEPTH_REACHED
$STATE,11017,begin surface coast
$FINISH,0.0,1.011817
$STATE,11056,end surface coast,CONTROL_FINISHED_OK
$STATE,11056,begin surface
$SM_CCo,11134,0.00,0.000,0,0,912,429.52
$SM_GC,0.96,11.12,0.00,0.00,0.035,0.000,0.000,420,2167,912,-10.70,-0.96,429.52
$IRIDIUM_FIX,2057.14,-15751.76,170797,101001
$TT8_MAMPS,0.029146
$HUMID,1813
$INTERNAL_PRESSURE,8.5512
$TCM_TEMP,22.10
$XPDR_PINGS,696
$24V_AH,23.6,17.833
$10V_AH,10.2,9.587
$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,25.150,104.750,579.825,0.000,0.000,31.242,28.501,217.832,174.000,0.000,0.000,16.402,1247.512,7495.923,625.673,1729.065,414.108,33.369,1494.766,0.000,1711.986,0.000,0.471
$DEVICE_MAMPS,159.536,147.264,870.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.409,472.886,825.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34870,706
$CAP_FILE_SIZE,96938,5
$CFSIZE,260165632,252833792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220408,170131,2106.898,-15753.321,34,1.9,34,9.8