version: 66.03
glider: 139
mission: 2
dive: 114
start: 4 23 108 7 10 16
data:
$ID,139
$MISSION,2
$DIVE,114
$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,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,-1254264.4
$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,40
$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
$GPS1,065337,2108.833,-15754.096,27,1.8,27,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.2
$GPS2,070926,2108.834,-15754.305,12,1.9,12,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.126
$KALMAN_X,-104797.1,355.5,-887.7,102155.1,184.5
$KALMAN_Y,-45085.8,724.4,-136.8,32771.9,-1398.0
$MHEAD_RNG_PITCHd_Wd,108.5,17550,-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,-50.12,0.000,2,0.000,0.000,422,2158,2892
$GC,72,-0.94,-194.6,3.6,-7.5,9,101,12.20,2.30,-10.73,0.000,4,0.163,0.047,2556,794,3459
$GC,124,-0.94,-194.6,15.2,-18.5,18,130,0.00,2.25,0.00,0.000,6,0.000,0.019,2556,2203,3460
$GC,456,-0.94,-194.6,51.7,-11.0,60,460,0.00,2.38,0.00,0.000,4,0.000,0.034,2556,794,3460
$GC,487,-0.94,-194.6,55.8,-12.2,62,495,0.00,2.28,0.00,0.000,6,0.000,0.018,2556,2193,3460
$GC,813,-0.94,-194.6,88.8,-10.2,93,817,0.00,2.33,0.00,0.000,4,0.000,0.034,2556,3585,3460
$GC,835,-0.94,-194.6,91.2,-11.1,95,839,0.00,2.25,0.00,0.000,6,0.000,0.020,2557,2192,3460
$GC,1161,-0.94,-194.6,124.6,-9.5,125,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2191,3461
$GC,1477,-0.94,-194.6,152.9,-8.5,155,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2191,3461
$GC,1796,-0.94,-194.6,176.4,-7.8,185,1800,0.00,2.35,0.00,0.000,4,0.000,0.034,2556,3590,3461
$GC,1816,-0.94,-194.6,178.1,-8.1,186,1823,0.00,2.28,0.00,0.000,6,0.000,0.020,2556,2200,3461
$GC,2139,-0.94,-194.6,204.9,-7.5,214,2143,0.00,2.33,0.00,0.000,4,0.000,0.034,2556,808,3461
$GC,2182,-0.94,-194.6,208.3,-7.7,216,2187,0.00,2.25,0.00,0.000,6,0.000,0.020,2556,2189,3461
$GC,2509,-0.94,-194.6,230.3,-5.8,232,2513,0.00,2.35,0.00,0.000,4,0.000,0.036,2556,3589,3461
$GC,2564,-0.94,-194.6,233.4,-5.6,234,2568,0.00,2.28,0.00,0.000,6,0.000,0.021,2556,2202,3461
$GC,2885,-0.94,-194.6,246.7,-4.2,250,2889,0.00,2.33,0.00,0.000,4,0.000,0.035,2556,810,3461
$GC,2956,-0.94,-194.6,250.5,-5.7,253,2960,0.00,2.28,0.00,0.000,6,0.000,0.036,2556,2192,3460
$GC,3277,-0.94,-194.6,267.7,-5.5,269,3281,0.00,2.38,0.00,0.000,4,0.000,0.039,2556,3597,3460
$GC,3349,-0.94,-194.6,271.6,-4.7,272,3353,0.00,2.28,0.00,0.000,6,0.000,0.023,2556,2203,3460
$GC,3670,-0.94,-194.6,286.7,-6.1,288,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2202,3459
$GC,3977,-0.94,-194.6,310.1,-7.4,300,3981,0.00,2.35,0.00,0.000,4,0.000,0.038,2556,810,3457
$GC,3998,-0.94,-194.6,311.4,-6.4,300,4003,0.00,2.30,0.00,0.000,6,0.000,0.025,2556,2192,3456
$GC,4341,-0.94,-194.6,333.6,-6.8,309,4345,0.00,2.35,0.00,0.000,4,0.000,0.038,2556,810,3456
$GC,4395,-0.94,-194.6,338.8,-9.4,310,4400,0.00,2.30,0.00,0.000,6,0.000,0.025,2556,2197,3455
$GC,4708,-0.94,-194.6,365.2,-8.5,318,4712,0.00,2.38,0.00,0.000,4,0.000,0.042,2556,3591,3453
$GC,4751,-0.94,-194.6,368.8,-8.3,319,4755,0.00,2.30,0.00,0.000,6,0.000,0.031,2556,2211,3453
$GC,5075,-0.94,-194.6,388.8,-5.5,327,5079,0.00,2.40,0.00,0.000,4,0.000,0.040,2556,801,3451
$GC,5114,-0.94,-194.6,390.7,-5.1,328,5118,0.00,2.33,0.00,0.000,6,0.000,0.030,2556,2202,3451
$GC,5437,-0.94,-194.6,406.1,-4.2,336,5441,0.00,2.40,0.00,0.000,4,0.000,0.045,2556,3597,3449
$GC,5475,-0.94,-194.6,407.5,-4.1,337,5479,0.00,2.33,0.00,0.000,6,0.000,0.026,2556,2195,3448
$GC,5798,-0.94,-194.6,415.1,-2.2,345,5803,0.00,2.38,0.00,0.000,4,0.000,0.041,2556,804,3447
$GC,5831,-0.94,-194.6,416.1,-3.4,345,5837,0.00,2.35,0.00,0.000,6,0.000,0.028,2556,2199,3447
$GC,6162,-0.94,-194.6,426.4,-3.3,354,6166,0.00,2.42,0.00,0.000,4,0.000,0.079,2556,3600,3445
$GC,6193,-0.94,-194.6,427.8,-4.3,354,6200,0.00,2.35,0.00,0.000,6,0.000,0.027,2556,2202,3445
$GC,6525,-0.94,-194.6,442.5,-4.9,363,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2201,3443
$STATE,6687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6687,begin apogee
$GC,6691,-0.31,0.0,450.5,5.0,367,6849,0.68,0.00,155.02,0.888,6,0.183,0.000,2702,2136,2664
$STATE,6850,end apogee,CONTROL_FINISHED_OK
$STATE,6850,begin climb
$GC,6852,0.94,194.6,457.2,0.0,371,7020,1.20,2.53,159.57,0.859,4,0.048,0.051,2974,3543,1869
$GC,7058,0.94,194.6,445.8,11.2,376,7063,0.00,2.38,0.00,0.000,6,0.000,0.065,2973,2174,1867
$GC,7382,0.94,194.6,409.0,10.7,384,7386,0.00,2.42,0.00,0.000,4,0.000,0.047,2974,3552,1859
$GC,7409,0.94,194.6,406.2,10.5,384,7413,0.00,2.42,0.00,0.000,6,0.000,0.030,2973,2144,1859
$GC,7746,0.94,194.6,370.9,10.3,393,7750,0.00,2.42,0.00,0.000,4,0.000,0.046,2973,749,1856
$GC,7772,0.94,194.6,367.7,12.0,393,7777,0.00,2.38,0.00,0.000,6,0.000,0.029,2973,2146,1854
$GC,8108,0.94,194.6,333.6,8.6,402,8112,0.00,2.45,0.00,0.000,4,0.000,0.077,2973,3551,1854
$GC,8140,0.97,220.3,331.4,6.5,402,8165,0.00,2.38,20.70,0.795,6,0.000,0.028,2973,2153,1765
$GC,8507,0.97,220.3,303.1,7.6,412,8511,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,748,1759
$GC,8618,0.97,220.3,294.1,8.4,415,8623,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2151,1757
$GC,8945,0.97,220.3,268.7,8.8,431,8949,0.00,2.40,0.00,0.000,4,0.000,0.043,2973,3547,1757
$GC,9000,0.97,220.3,262.9,10.7,433,9007,0.00,2.38,0.00,0.000,6,0.000,0.027,2973,2145,1757
$GC,9316,0.97,220.3,236.7,7.2,449,9320,0.00,2.42,0.00,0.000,4,0.000,0.041,2974,3549,1757
$GC,9354,0.97,220.3,233.6,7.8,451,9359,0.00,2.35,0.00,0.000,6,0.000,0.027,2973,2140,1757
$GC,9681,0.97,220.3,210.2,8.5,467,9684,0.00,2.38,0.00,0.000,4,0.000,0.041,2973,745,1756
$GC,9729,0.97,220.3,205.4,10.2,469,9734,0.00,2.35,0.00,0.000,6,0.000,0.059,2973,2147,1753
$GC,10054,0.97,220.3,175.0,8.4,496,10058,0.00,2.40,0.00,0.000,4,0.000,0.040,2973,3551,1754
$GC,10070,0.97,220.3,173.5,8.3,497,10074,0.00,2.33,0.00,0.000,6,0.000,0.061,2973,2147,1754
$GC,10394,1.06,296.2,155.7,5.3,527,10467,0.12,2.47,64.57,0.668,4,0.054,0.071,3009,753,1454
$GC,10502,1.06,296.2,147.7,8.2,537,10506,0.00,2.33,0.00,0.000,6,0.000,0.058,3009,2154,1450
$GC,10826,1.06,296.2,117.5,9.9,567,10830,0.00,2.40,0.00,0.000,4,0.000,0.038,3009,753,1447
$GC,10876,1.06,296.2,112.3,10.2,571,10880,0.00,2.30,0.00,0.000,6,0.000,0.022,3009,2156,1445
$GC,11200,1.06,296.2,80.7,9.8,601,11204,0.00,2.40,0.00,0.000,4,0.000,0.037,3009,752,1445
$GC,11261,1.06,296.2,74.3,10.5,606,11265,0.00,2.28,0.00,0.000,6,0.000,0.043,3009,2154,1444
$GC,11585,1.06,296.2,42.9,9.6,636,11589,0.00,2.40,0.00,0.000,4,0.000,0.036,3009,745,1444
$GC,11691,1.06,296.2,32.8,8.5,645,11695,0.00,2.28,0.00,0.000,6,0.000,0.020,3009,2157,1443
$GC,12032,1.06,296.2,6.2,7.6,702,12038,0.00,2.38,0.00,0.000,4,0.000,0.035,3009,748,1445
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FINISH,1.9,1.023419
$STATE,12077,end surface coast,CONTROL_FINISHED_OK
$STATE,12077,begin surface
$SM_CCo,12099,10.77,0.482,0,0,1399,310.06
$SM_GC,2.28,0.00,0.00,10.77,0.000,0.000,0.482,432,2202,1399,-10.75,0.06,310.06
$IRIDIUM_FIX,2101.76,-15750.89,180797,070726
$TT8_MAMPS,0.029146
$HUMID,1814
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.40
$XPDR_PINGS,670
$24V_AH,23.6,18.558
$10V_AH,10.2,9.983
$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,25.550,136.625,399.875,10.775,0.000,111.564,141.586,387.279,167.500,0.000,0.000,13.967,1276.999,8841.500,499.517,1627.485,803.878,33.366,1321.713,0.000,1612.529,0.000,0.470
$DEVICE_MAMPS,183.313,101.244,888.186,482.443,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.686,456.175,773.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34813,710
$CAP_FILE_SIZE,109776,8
$CFSIZE,260165632,252579840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,103307,2107.540,-15753.279,25,1.1,25,9.8