version: 66.03
glider: 139
mission: 2
dive: 124
start: 4 24 108 18 20 58
data:
$ID,139
$MISSION,2
$DIVE,124
$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,-1254441.1
$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,56
$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
$GPS1,180808,2103.653,-15747.888,34,1.6,34,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.4
$GPS2,182008,2103.714,-15747.937,10,1.8,10,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.166
$KALMAN_X,-124713.8,-385.7,-466.9,133367.3,-968.3
$KALMAN_Y,-55534.0,-23.9,-338.9,34692.6,-419.2
$MHEAD_RNG_PITCHd_Wd,118.8,3119,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.94,-194.6,0.0,0.0,0,69,0.00,0.00,-49.45,0.000,2,0.000,0.000,429,2163,2876
$GC,71,-0.94,-194.6,3.8,-8.0,9,100,12.25,2.30,-10.77,0.000,4,0.163,0.048,2557,796,3460
$GC,297,-0.94,-194.6,35.1,-10.6,45,301,0.00,2.25,0.00,0.000,6,0.000,0.058,2558,2195,3461
$GC,621,-0.94,-194.6,73.4,-12.0,75,625,0.00,2.33,0.00,0.000,4,0.000,0.032,2558,3591,3461
$GC,672,-0.94,-194.6,79.3,-10.8,79,676,0.00,2.28,0.00,0.000,6,0.000,0.056,2558,2192,3462
$GC,996,-0.94,-194.6,108.1,-9.0,109,1000,0.00,2.35,0.00,0.000,4,0.000,0.032,2558,3596,3462
$GC,1028,-0.94,-194.6,111.2,-9.4,111,1035,0.00,2.30,0.00,0.000,6,0.000,0.019,2558,2194,3462
$GC,1354,-0.94,-194.6,139.7,-8.7,142,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2192,3463
$GC,1673,-0.94,-194.6,167.1,-8.4,172,1677,0.00,2.33,0.00,0.000,4,0.000,0.070,2558,803,3463
$GC,1728,-0.94,-194.6,172.8,-10.6,176,1735,0.00,2.28,0.00,0.000,6,0.000,0.020,2558,2199,3464
$GC,2065,-0.94,-194.6,201.7,-7.8,207,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2202,3464
$GC,2372,-0.94,-194.6,223.4,-7.0,222,2376,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,807,3463
$GC,2403,-0.94,-194.6,225.7,-7.4,223,2410,0.00,2.28,0.00,0.000,6,0.000,0.021,2558,2196,3463
$GC,2720,-0.94,-194.6,245.1,-6.3,239,2724,0.00,2.35,0.00,0.000,4,0.000,0.038,2558,3593,3463
$GC,2796,-0.94,-194.6,250.4,-6.9,242,2803,0.00,2.30,0.00,0.000,6,0.000,0.021,2558,2194,3462
$GC,3112,-0.94,-194.6,267.3,-4.9,258,3116,0.00,2.33,0.00,0.000,4,0.000,0.036,2557,808,3463
$GC,3160,-0.94,-194.6,270.0,-5.5,260,3165,0.00,2.30,0.00,0.000,6,0.000,0.023,2558,2198,3462
$GC,3482,-0.94,-194.6,285.8,-5.6,276,3486,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,3596,3461
$GC,3525,-0.94,-194.6,288.8,-6.9,278,3529,0.00,2.30,0.00,0.000,6,0.000,0.058,2558,2208,3461
$GC,3869,-0.94,-194.6,313.4,-7.5,291,3873,0.00,2.38,0.00,0.000,4,0.000,0.038,2558,807,3459
$GC,3918,-0.94,-194.6,317.6,-8.2,292,3923,0.00,2.33,0.00,0.000,6,0.000,0.026,2557,2198,3459
$GC,4238,-0.94,-194.6,337.9,-5.6,300,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3457
$GC,4562,-0.94,-194.6,354.6,-5.1,308,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3455
$GC,4887,-0.94,-194.6,370.5,-4.7,316,4891,0.00,2.38,0.00,0.000,4,0.000,0.041,2557,806,3453
$GC,4908,-0.94,-194.6,371.7,-5.3,316,4913,0.00,2.33,0.00,0.000,6,0.000,0.028,2558,2190,3452
$GC,5256,-0.94,-194.6,392.9,-6.2,325,5260,0.00,2.42,0.00,0.000,4,0.000,0.047,2557,3597,3450
$GC,5289,-0.94,-194.6,395.1,-6.6,325,5295,0.00,2.33,0.00,0.000,6,0.000,0.032,2558,2197,3449
$GC,5620,-0.94,-194.6,415.9,-6.9,334,5624,0.00,2.38,0.00,0.000,4,0.000,0.041,2558,803,3448
$GC,5640,-0.94,-194.6,417.9,-8.6,334,5645,0.00,2.35,0.00,0.000,6,0.000,0.029,2558,2196,3447
$GC,5983,-0.94,-194.6,439.3,-5.8,343,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2196,3445
$STATE,6184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6184,begin apogee
$GC,6189,-0.31,0.0,450.6,5.5,348,6347,0.65,0.00,155.85,0.897,6,0.064,0.000,2700,2196,2664
$STATE,6348,end apogee,CONTROL_FINISHED_OK
$STATE,6348,begin climb
$GC,6350,0.94,194.6,457.6,0.0,352,6518,1.20,2.58,159.85,0.867,4,0.047,0.050,2972,755,1868
$GC,6602,0.94,194.6,445.0,8.4,358,6606,0.00,2.38,0.00,0.000,6,0.000,0.066,2972,2139,1859
$GC,6926,0.94,194.6,419.1,7.9,366,6930,0.00,2.42,0.00,0.000,4,0.000,0.079,2972,755,1856
$GC,6958,0.94,194.6,416.1,9.3,366,6965,0.00,2.40,0.00,0.000,6,0.000,0.063,2972,2153,1855
$GC,7289,0.94,194.6,387.6,8.8,375,7293,0.00,2.45,0.00,0.000,4,0.000,0.048,2972,3554,1854
$GC,7327,0.94,194.6,384.0,10.0,376,7331,0.00,2.33,0.00,0.000,6,0.000,0.064,2972,2150,1854
$GC,7650,0.94,194.6,355.3,9.1,384,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2148,1853
$GC,7974,0.94,194.6,326.3,8.7,392,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2148,1851
$GC,8300,0.94,194.6,301.3,7.4,400,8304,0.00,2.45,0.00,0.000,4,0.000,0.078,2972,3556,1851
$GC,8343,0.94,194.6,297.1,9.6,401,8347,0.00,2.40,0.00,0.000,6,0.000,0.063,2971,2144,1851
$GC,8670,0.94,194.6,270.1,7.6,417,8674,0.00,2.42,0.00,0.000,4,0.000,0.080,2972,3549,1850
$GC,8715,0.94,194.6,266.6,8.2,419,8719,0.00,2.35,0.00,0.000,6,0.000,0.032,2972,2148,1850
$GC,9040,0.94,194.6,238.7,8.8,435,9044,0.00,2.42,0.00,0.000,4,0.000,0.077,2972,744,1848
$GC,9117,0.94,194.6,231.9,8.4,438,9125,0.00,2.38,0.00,0.000,6,0.000,0.062,2972,2150,1846
$GC,9433,0.94,194.6,207.7,7.2,454,9437,0.00,2.40,0.00,0.000,4,0.000,0.042,2972,3547,1846
$GC,9561,0.94,194.6,198.3,8.3,460,9565,0.00,2.33,0.00,0.000,6,0.000,0.027,2972,2146,1847
$GC,9886,0.99,234.5,176.9,6.2,490,9922,0.00,2.42,31.75,0.703,4,0.000,0.051,2972,753,1705
$GC,10039,1.01,253.2,166.8,6.7,503,10061,0.00,2.33,16.60,0.665,6,0.000,0.025,2972,2155,1631
$GC,10379,1.01,253.2,144.1,7.4,535,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2160,1627
$GC,10698,1.01,253.2,119.5,7.4,565,10702,0.00,2.40,0.00,0.000,4,0.000,0.038,2972,752,1627
$GC,10827,1.02,260.7,109.6,7.0,576,10839,0.00,2.30,7.03,0.543,6,0.000,0.023,2972,2162,1601
$GC,11156,1.11,336.2,91.8,5.3,607,11227,0.17,0.00,66.18,0.606,6,0.044,0.000,3021,2167,1292
$GC,11544,1.11,336.2,59.5,9.1,644,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,1286
$GC,11863,1.11,336.2,30.8,8.5,674,11867,0.00,2.40,0.00,0.000,4,0.000,0.035,3021,750,1286
$GC,12009,1.11,336.2,16.2,10.5,699,12015,0.00,2.28,0.00,0.000,6,0.000,0.025,3021,2164,1282
$STATE,12155,end climb,SURFACE_DEPTH_REACHED
$STATE,12155,begin surface coast
$FINISH,0.1,1.010467
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12269,0.00,0.000,0,0,1281,339.50
$SM_GC,0.88,11.23,0.00,0.00,0.039,0.000,0.000,432,2169,1281,-10.69,-0.88,339.50
$IRIDIUM_FIX,2054.83,-15746.61,190797,181813
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.60
$XPDR_PINGS,643
$24V_AH,23.6,19.942
$10V_AH,10.2,10.766
$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,25.500,103.650,437.250,0.000,0.000,83.607,93.330,309.938,160.750,0.000,0.000,12.024,1269.894,8956.676,505.178,1601.150,648.031,33.377,1299.504,0.000,1597.375,0.000,0.471
$DEVICE_MAMPS,163.371,79.768,897.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.537,482.677,815.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38027,731
$CAP_FILE_SIZE,100214,7
$CFSIZE,260165632,252092416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240408,214638,2102.949,-15746.936,37,0.9,37,9.8