version: 66.03
glider: 139
mission: 2
dive: 118
start: 4 23 108 21 0 52
data:
$ID,139
$MISSION,2
$DIVE,118
$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,-1254331
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,205426,2105.941,-15752.229,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-67.9
$GPS2,210003,2105.921,-15752.196,13,1.3,13,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.126
$KALMAN_X,-112954.7,-589.8,-414.7,114421.6,-276.5
$KALMAN_Y,-48608.0,-386.0,-48.0,31927.2,-398.6
$MHEAD_RNG_PITCHd_Wd,108.4,11278,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.94,-194.6,0.0,0.0,0,70,0.00,0.00,-49.20,0.000,2,0.000,0.000,431,2147,2843
$GC,72,-0.94,-194.6,3.4,-6.9,9,102,12.05,2.33,-11.93,0.000,4,0.159,0.047,2556,804,3459
$GC,271,-0.94,-194.6,29.1,-9.6,44,277,0.00,2.28,0.00,0.000,6,0.000,0.020,2557,2222,3461
$GC,602,-0.94,-194.6,64.8,-11.4,76,606,0.00,2.30,0.00,0.000,4,0.000,0.034,2556,3600,3462
$GC,657,-0.94,-194.6,71.0,-10.6,80,664,0.00,2.30,0.00,0.000,6,0.000,0.019,2556,2198,3461
$GC,982,-0.94,-194.6,100.8,-8.8,111,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2196,3462
$GC,1300,-0.94,-194.6,131.2,-8.9,141,1304,0.00,2.33,0.00,0.000,4,0.000,0.034,2556,806,3462
$GC,1332,-0.94,-194.6,134.1,-8.2,143,1340,0.00,2.28,0.00,0.000,6,0.000,0.019,2557,2201,3463
$GC,1658,-0.94,-194.6,157.7,-7.2,174,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2203,3463
$GC,1975,-0.94,-194.6,184.1,-8.8,204,1979,0.00,2.33,0.00,0.000,4,0.000,0.033,2556,808,3464
$GC,2008,-0.94,-194.6,187.4,-10.3,206,2015,0.00,2.28,0.00,0.000,6,0.000,0.021,2556,2199,3464
$GC,2328,-0.94,-194.6,210.1,-5.3,229,2332,0.00,2.35,0.00,0.000,4,0.000,0.035,2556,803,3463
$GC,2368,-0.94,-194.6,212.5,-6.5,231,2372,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2209,3464
$GC,2693,-0.94,-194.6,235.0,-7.3,247,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2210,3463
$GC,3002,-0.94,-194.6,257.3,-7.5,262,3006,0.00,2.38,0.00,0.000,4,0.000,0.035,2556,803,3462
$GC,3022,-0.94,-194.6,259.2,-8.5,263,3027,0.00,2.30,0.00,0.000,6,0.000,0.023,2557,2196,3463
$GC,3350,-0.94,-194.6,284.4,-6.2,279,3354,0.00,2.38,0.00,0.000,4,0.000,0.040,2557,3597,3461
$GC,3393,-0.94,-194.6,286.8,-5.2,281,3397,0.00,2.30,0.00,0.000,6,0.000,0.059,2556,2209,3461
$GC,3720,-0.94,-194.6,299.9,-4.7,297,3724,0.00,2.38,0.00,0.000,4,0.000,0.038,2556,801,3461
$GC,3758,-0.94,-194.6,302.0,-5.8,298,3764,0.00,2.30,0.00,0.000,6,0.000,0.025,2557,2202,3461
$GC,4089,-0.94,-194.6,322.9,-6.8,307,4093,0.00,2.38,0.00,0.000,4,0.000,0.042,2556,3597,3459
$GC,4120,-0.94,-194.6,325.4,-7.8,307,4127,0.00,2.33,0.00,0.000,6,0.000,0.024,2557,2200,3458
$GC,4452,-0.94,-194.6,348.0,-6.7,316,4456,0.00,2.38,0.00,0.000,4,0.000,0.039,2556,799,3457
$GC,4495,-0.94,-194.6,351.1,-7.5,317,4499,0.00,2.35,0.00,0.000,6,0.000,0.042,2557,2202,3456
$GC,4819,-0.94,-194.6,368.1,-4.5,325,4823,0.00,2.40,0.00,0.000,4,0.000,0.044,2556,3598,3455
$GC,4845,-0.94,-194.6,369.4,-5.1,325,4850,0.00,2.33,0.00,0.000,6,0.000,0.025,2556,2203,3455
$GC,5182,-0.94,-194.6,387.5,-5.5,334,5186,0.00,2.38,0.00,0.000,4,0.000,0.041,2556,806,3452
$GC,5213,-0.94,-194.6,389.3,-5.7,334,5220,0.00,2.35,0.00,0.000,6,0.000,0.033,2557,2200,3452
$GC,5545,-0.94,-194.6,408.4,-6.0,343,5549,0.00,2.40,0.00,0.000,4,0.000,0.047,2557,3596,3450
$GC,5577,-0.94,-194.6,410.4,-6.0,343,5583,0.00,2.33,0.00,0.000,6,0.000,0.062,2557,2192,3450
$GC,5907,-0.94,-194.6,428.0,-5.5,352,5912,0.00,2.38,0.00,0.000,4,0.000,0.043,2556,806,3448
$GC,5940,-0.94,-194.6,430.1,-6.8,352,5947,0.00,2.35,0.00,0.000,6,0.000,0.029,2556,2196,3448
$STATE,6269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6269,begin apogee
$GC,6274,-0.31,0.0,451.4,6.2,361,6432,0.68,0.00,156.10,0.885,6,0.064,0.000,2704,2196,2664
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6435,0.94,194.6,459.2,0.0,365,6603,1.20,2.58,159.38,0.858,4,0.045,0.048,2975,755,1868
$GC,6663,0.94,194.6,449.2,9.1,370,6668,0.00,2.40,0.00,0.000,6,0.000,0.067,2975,2151,1860
$GC,7006,0.94,194.6,419.2,8.9,379,7010,0.00,2.45,0.00,0.000,4,0.000,0.045,2975,749,1857
$GC,7026,0.94,194.6,417.2,9.7,379,7031,0.00,2.40,0.00,0.000,6,0.000,0.030,2975,2150,1856
$GC,7369,0.94,194.6,389.5,7.8,388,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2151,1855
$GC,7694,0.94,194.6,360.6,9.6,396,7698,0.00,2.45,0.00,0.000,4,0.000,0.080,2975,3556,1853
$GC,7719,0.94,194.6,357.6,11.6,396,7724,0.00,2.38,0.00,0.000,6,0.000,0.063,2975,2164,1853
$GC,8056,0.94,194.6,322.0,10.2,405,8060,0.00,2.45,0.00,0.000,4,0.000,0.076,2976,746,1851
$GC,8122,0.94,194.6,315.7,9.5,406,8127,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2153,1849
$GC,8446,0.94,194.6,291.1,7.4,417,8450,0.00,2.45,0.00,0.000,4,0.000,0.076,2975,739,1850
$GC,8568,0.94,194.6,282.0,8.6,422,8575,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2148,1849
$GC,8884,0.94,199.9,257.4,7.0,438,8887,0.00,1.77,0.00,0.000,4,0.000,0.084,2975,3214,1848
$GC,8928,0.95,207.2,254.3,7.0,440,8942,0.00,1.77,8.52,0.689,6,0.000,0.027,2975,2144,1818
$GC,9258,0.97,221.7,232.5,6.8,456,9280,0.00,2.45,13.85,0.713,4,0.000,0.074,2975,758,1758
$GC,9340,0.97,221.7,226.4,7.4,459,9347,0.00,2.35,0.00,0.000,6,0.000,0.033,2975,2151,1755
$GC,9656,0.97,221.7,199.2,10.2,475,9660,0.00,2.40,0.00,0.000,4,0.000,0.040,2975,752,1755
$GC,9756,0.97,221.7,188.1,11.2,483,9762,0.00,2.30,0.00,0.000,6,0.000,0.025,2975,2153,1754
$GC,10081,1.11,337.5,166.0,4.3,514,10188,0.15,2.50,99.12,0.680,4,0.051,0.072,3020,754,1287
$GC,10243,1.11,337.5,151.8,12.5,529,10250,0.00,2.35,0.00,0.000,6,0.000,0.024,3020,2151,1281
$GC,10569,1.11,337.5,118.3,8.6,560,10573,0.00,2.40,0.00,0.000,4,0.000,0.038,3020,752,1278
$GC,10635,1.11,337.5,111.9,9.9,565,10642,0.00,2.28,0.00,0.000,6,0.000,0.022,3020,2156,1276
$GC,10960,1.14,361.1,87.8,6.6,596,10985,0.00,2.47,19.73,0.578,4,0.000,0.056,3019,753,1190
$GC,11038,1.14,361.1,82.1,7.7,603,11042,0.00,2.30,0.00,0.000,6,0.000,0.036,3020,2161,1187
$GC,11367,1.24,438.0,59.4,5.3,634,11441,0.00,2.50,64.03,0.561,4,0.000,0.061,3020,753,876
$GC,11502,1.29,478.9,52.0,6.1,646,11541,0.12,2.25,33.60,0.542,6,0.050,0.020,3059,2156,711
$GC,11866,1.29,480.2,18.4,7.1,693,11873,0.00,2.38,0.00,0.000,4,0.000,0.060,3059,750,706
$GC,11998,1.29,480.2,6.0,10.7,716,12004,0.00,2.25,0.00,0.000,6,0.000,0.020,3059,2153,703
$STATE,12014,end climb,SURFACE_DEPTH_REACHED
$STATE,12014,begin surface coast
$FINISH,0.7,1.023069
$STATE,12033,end surface coast,CONTROL_FINISHED_OK
$STATE,12033,begin surface
$SM_CCo,12112,0.00,0.000,0,0,701,481.52
$SM_GC,0.67,11.35,0.00,0.00,0.035,0.000,0.000,423,2157,701,-10.71,-1.22,481.52
$IRIDIUM_FIX,2059.45,-15751.76,180797,171754
$TT8_MAMPS,0.029146
$HUMID,1796
$INTERNAL_PRESSURE,8.54143
$TCM_TEMP,22.60
$XPDR_PINGS,631
$24V_AH,23.6,19.114
$10V_AH,10.2,10.289
$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,25.550,126.400,554.325,0.000,0.000,24.658,26.886,175.587,157.750,0.000,0.000,15.365,1246.526,8588.805,606.786,1622.253,372.965,33.371,1456.929,0.000,1606.275,0.000,0.470
$DEVICE_MAMPS,158.769,84.370,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.954,464.945,807.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38031,722
$CAP_FILE_SIZE,102384,10
$CFSIZE,260165632,252391424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,240408,002356,2104.403,-15751.228,38,1.2,38,9.8