version: 66.03
glider: 139
mission: 2
dive: 119
start: 4 24 108 0 30 34
data:
$ID,139
$MISSION,2
$DIVE,119
$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,-1254347
$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,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
$GPS1,002356,2104.403,-15751.228,38,1.2,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.6
$GPS2,002945,2104.295,-15751.180,13,1.6,13,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.263,0.043
$KALMAN_X,-115675.9,61.7,456.1,117373.1,-2171.1
$KALMAN_Y,-50321.8,-157.2,22.6,30338.5,-1113.8
$MHEAD_RNG_PITCHd_Wd,71.0,8194,-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,-194.6,0.0,0.0,0,96,0.00,0.00,-75.80,0.000,2,0.000,0.000,423,2157,2921
$GC,98,-0.94,-194.6,3.7,-7.7,14,128,12.27,2.30,-9.90,0.000,4,0.163,0.048,2556,794,3461
$GC,248,-0.94,-194.6,27.2,-11.2,40,254,0.00,2.25,0.00,0.000,6,0.000,0.061,2556,2198,3462
$GC,575,-0.94,-194.6,66.5,-12.1,73,579,0.00,2.33,0.00,0.000,4,0.000,0.033,2556,3589,3462
$GC,663,-0.94,-194.6,75.9,-9.5,80,670,0.00,2.30,0.00,0.000,6,0.000,0.019,2556,2189,3462
$GC,988,-0.94,-194.6,106.6,-9.6,111,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2188,3463
$GC,1306,-0.94,-194.6,131.4,-7.3,141,1310,0.00,2.33,0.00,0.000,4,0.000,0.034,2556,798,3464
$GC,1412,-0.94,-194.6,139.2,-6.9,150,1419,0.00,2.28,0.00,0.000,6,0.000,0.057,2556,2192,3464
$GC,1737,-0.94,-194.6,165.2,-7.7,181,1741,0.00,2.33,0.00,0.000,4,0.000,0.033,2556,801,3464
$GC,1789,-0.94,-194.6,169.4,-8.0,185,1794,0.00,2.25,0.00,0.000,6,0.000,0.021,2556,2198,3464
$GC,2114,-0.94,-194.6,197.4,-9.5,215,2118,0.00,2.33,0.00,0.000,4,0.000,0.034,2556,805,3464
$GC,2136,-0.94,-194.6,199.7,-10.1,217,2140,0.00,2.25,0.00,0.000,6,0.000,0.021,2556,2199,3464
$GC,2451,-0.94,-194.6,227.6,-9.3,232,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2201,3464
$GC,2760,-0.94,-194.6,254.3,-7.7,247,2764,0.00,2.35,0.00,0.000,4,0.000,0.035,2556,800,3464
$GC,2787,-0.94,-194.6,256.3,-7.3,248,2791,0.00,2.30,0.00,0.000,6,0.000,0.058,2556,2192,3463
$GC,3108,-0.94,-194.6,276.2,-6.4,264,3112,0.00,2.38,0.00,0.000,4,0.000,0.040,2556,3593,3462
$GC,3151,-0.94,-194.6,279.4,-7.8,266,3155,0.00,2.30,0.00,0.000,6,0.000,0.041,2556,2205,3462
$GC,3497,-0.94,-194.6,306.7,-8.1,281,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2203,3461
$GC,3822,-0.94,-194.6,329.6,-6.8,289,3826,0.00,2.38,0.00,0.000,4,0.000,0.038,2556,802,3459
$GC,3860,-0.94,-194.6,332.5,-7.5,290,3864,0.00,2.30,0.00,0.000,6,0.000,0.025,2556,2199,3459
$GC,4184,-0.94,-194.6,353.0,-5.6,298,4188,0.00,2.40,0.00,0.000,4,0.000,0.043,2556,3600,3457
$GC,4210,-0.94,-194.6,354.6,-5.6,298,4215,0.00,2.33,0.00,0.000,6,0.000,0.031,2556,2204,3457
$GC,4547,-0.94,-194.6,371.5,-4.8,307,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2202,3455
$GC,4872,-0.94,-194.6,387.7,-5.4,315,4876,0.00,2.40,0.00,0.000,4,0.000,0.041,2556,796,3453
$GC,4903,-0.94,-194.6,389.7,-6.2,315,4910,0.00,2.35,0.00,0.000,6,0.000,0.062,2556,2189,3453
$GC,5235,-0.94,-194.6,409.8,-6.3,324,5239,0.00,2.42,0.00,0.000,4,0.000,0.048,2556,3597,3450
$GC,5267,-0.94,-194.6,412.1,-6.9,324,5274,0.00,2.33,0.00,0.000,6,0.000,0.027,2556,2196,3450
$GC,5598,-0.94,-194.6,431.5,-5.5,333,5602,0.00,2.38,0.00,0.000,4,0.000,0.042,2556,797,3448
$GC,5642,-0.94,-194.6,433.9,-5.6,334,5646,0.00,2.35,0.00,0.000,6,0.000,0.030,2556,2205,3448
$STATE,5922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5922,begin apogee
$GC,5927,-0.31,0.0,451.3,6.4,341,6086,0.68,0.00,156.07,0.888,6,0.173,0.000,2704,2134,2664
$STATE,6087,end apogee,CONTROL_FINISHED_OK
$STATE,6087,begin climb
$GC,6088,0.94,194.6,460.0,0.0,345,6256,1.20,2.53,159.32,0.859,4,0.044,0.054,2975,3546,1870
$GC,6475,0.94,194.6,431.9,9.8,354,6479,0.00,2.35,0.00,0.000,6,0.000,0.042,2975,2164,1863
$GC,6793,0.94,194.6,404.8,8.3,362,6797,0.00,2.47,0.00,0.000,4,0.000,0.077,2975,749,1858
$GC,6869,0.94,194.6,397.9,8.8,363,6877,0.00,2.40,0.00,0.000,6,0.000,0.064,2975,2148,1855
$GC,7200,0.94,194.6,372.8,7.5,372,7205,0.00,2.45,0.00,0.000,4,0.000,0.058,2975,747,1854
$GC,7277,0.94,194.6,366.2,8.5,373,7284,0.00,2.38,0.00,0.000,6,0.000,0.030,2975,2145,1853
$GC,7609,1.00,244.8,344.9,5.9,382,7657,0.00,2.55,41.50,0.830,4,0.000,0.078,2975,3546,1665
$GC,7702,1.00,244.8,338.8,7.5,384,7707,0.00,2.40,0.00,0.000,6,0.000,0.029,2975,2150,1664
$GC,8021,1.00,244.8,312.2,8.9,392,8025,0.00,2.42,0.00,0.000,4,0.000,0.077,2975,747,1658
$GC,8196,1.00,244.8,294.9,9.9,397,8200,0.00,2.35,0.00,0.000,6,0.000,0.062,2975,2157,1654
$GC,8527,1.00,244.8,263.8,8.9,413,8531,0.00,2.45,0.00,0.000,4,0.000,0.049,2975,742,1653
$GC,8566,1.00,244.8,260.0,10.1,415,8570,0.00,2.35,0.00,0.000,6,0.000,0.061,2975,2153,1652
$GC,8892,1.00,244.8,229.9,9.8,431,8896,0.00,2.42,0.00,0.000,4,0.000,0.041,2975,745,1652
$GC,8997,1.00,244.8,218.0,11.1,435,9003,0.00,2.35,0.00,0.000,6,0.000,0.041,2975,2149,1651
$GC,9316,1.00,244.8,188.1,8.0,457,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2153,1651
$GC,9635,1.00,244.8,161.1,8.4,487,9639,0.00,2.42,0.00,0.000,4,0.000,0.040,2975,740,1651
$GC,9662,1.00,244.8,158.8,9.1,489,9667,0.00,2.35,0.00,0.000,6,0.000,0.044,2975,2163,1650
$GC,9987,1.00,244.8,135.8,7.2,519,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2168,1650
$GC,10305,1.00,247.6,113.0,7.1,549,10309,0.00,2.42,0.00,0.000,4,0.000,0.037,2975,738,1650
$GC,10445,1.00,247.6,102.2,7.9,561,10449,0.00,2.33,0.00,0.000,6,0.000,0.022,2975,2162,1650
$GC,10769,1.00,247.6,79.6,7.4,591,10774,0.00,2.33,0.00,0.000,4,0.000,0.035,2975,3547,1652
$GC,10813,1.00,247.6,75.8,8.4,594,10820,0.00,2.33,0.00,0.000,6,0.000,0.021,2975,2136,1653
$GC,11139,1.10,324.9,54.5,5.2,625,11213,0.15,2.40,66.90,0.561,4,0.046,0.038,3025,3540,1338
$GC,11263,1.10,324.9,45.7,7.4,636,11270,0.00,2.28,0.00,0.000,6,0.000,0.054,3025,2148,1337
$GC,11597,1.10,324.9,18.3,8.3,679,11603,0.00,2.35,0.00,0.000,4,0.000,0.036,3025,749,1332
$STATE,11771,end climb,SURFACE_DEPTH_REACHED
$STATE,11771,begin surface coast
$FINISH,0.1,1.010300
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11886,0.00,0.000,0,0,1327,327.97
$SM_GC,1.06,11.23,0.00,0.00,0.030,0.000,0.000,425,2204,1327,-10.70,0.08,327.97
$IRIDIUM_FIX,2059.45,-15750.89,180797,212150
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.60
$XPDR_PINGS,663
$24V_AH,23.6,19.246
$10V_AH,10.2,10.367
$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,25.525,113.425,423.800,0.000,0.000,24.550,48.189,170.131,165.750,0.000,0.000,15.366,1256.691,8397.524,510.838,1673.579,385.249,33.365,1345.718,0.000,1659.156,0.000,0.470
$DEVICE_MAMPS,173.342,78.234,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.629,465.472,822.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,716
$CAP_FILE_SIZE,97825,12
$CFSIZE,260165632,252346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,034926,2103.664,-15750.765,7,1.8,12,9.8