version: 66.03
glider: 139
mission: 2
dive: 126
start: 4 25 108 1 31 34
data:
$ID,139
$MISSION,2
$DIVE,126
$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,-1254467.5
$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,45
$R_STBD_OVSHOOT,76
$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
$GPS1,012338,2104.345,-15747.964,26,1.4,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-67.2
$GPS2,013045,2104.334,-15747.944,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.266
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.058,0.260
$KALMAN_X,-127214.8,123.8,565.1,134313.5,-1664.7
$KALMAN_Y,-55929.7,-6.2,363.0,35515.7,-1281.5
$MHEAD_RNG_PITCHd_Wd,337.6,15054,-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,-49.92,0.000,2,0.000,0.000,423,2226,2884
$GC,72,-0.94,-194.6,3.4,-6.9,9,102,12.32,2.40,-10.77,0.000,4,0.166,0.081,2556,800,3459
$GC,182,-0.94,-194.6,23.1,-13.2,28,188,0.00,2.20,0.00,0.000,6,0.000,0.034,2557,2175,3460
$GC,510,-0.94,-194.6,64.9,-11.4,63,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2179,3461
$GC,828,-0.94,-194.6,100.5,-9.4,93,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2180,3462
$GC,1147,-0.94,-194.6,127.5,-7.2,123,1151,0.00,2.30,0.00,0.000,4,0.000,0.033,2556,801,3462
$GC,1224,-0.94,-194.6,133.4,-7.1,129,1231,0.00,2.28,0.00,0.000,6,0.000,0.019,2557,2200,3462
$GC,1549,-0.94,-194.6,163.1,-9.0,160,1553,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,3593,3463
$GC,1621,-0.94,-194.6,169.2,-8.1,166,1625,0.00,2.28,0.00,0.000,6,0.000,0.020,2556,2188,3463
$GC,1945,-0.94,-194.6,194.8,-7.8,196,1950,0.00,2.35,0.00,0.000,4,0.000,0.035,2556,3588,3463
$GC,1977,-0.94,-194.6,197.6,-8.1,198,1985,0.00,2.28,0.00,0.000,6,0.000,0.021,2556,2205,3463
$GC,2304,-0.94,-194.6,220.4,-6.8,216,2308,0.00,2.35,0.00,0.000,4,0.000,0.035,2556,803,3463
$GC,2348,-0.94,-194.6,223.8,-7.9,218,2352,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2189,3463
$GC,2674,-0.94,-194.6,248.2,-7.4,234,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2192,3462
$GC,2984,-0.94,-194.6,267.0,-5.6,249,2988,0.00,2.33,0.00,0.000,4,0.000,0.036,2556,809,3462
$GC,3011,-0.94,-194.6,268.7,-6.2,250,3015,0.00,2.28,0.00,0.000,6,0.000,0.023,2557,2190,3461
$GC,3332,-0.94,-194.6,287.4,-5.9,266,3336,0.00,2.38,0.00,0.000,4,0.000,0.040,2557,3590,3460
$GC,3403,-0.94,-194.6,291.6,-5.8,269,3407,0.00,2.30,0.00,0.000,6,0.000,0.024,2557,2205,3460
$GC,3742,-0.94,-194.6,307.8,-4.4,282,3746,0.00,2.38,0.00,0.000,4,0.000,0.038,2557,797,3458
$GC,3769,-0.94,-194.6,309.0,-4.5,282,3773,0.00,2.33,0.00,0.000,6,0.000,0.059,2556,2192,3459
$GC,4106,-0.94,-194.6,324.6,-5.3,291,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2193,3457
$GC,4431,-0.94,-194.6,344.6,-6.1,299,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2193,3456
$GC,4755,-0.94,-194.6,361.8,-4.8,307,4760,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,3596,3454
$GC,4794,-0.94,-194.6,363.6,-4.7,308,4799,0.00,2.30,0.00,0.000,6,0.000,0.032,2556,2202,3453
$GC,5118,-0.94,-194.6,380.8,-6.0,316,5122,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,3594,3451
$GC,5145,-0.94,-194.6,382.7,-6.6,316,5150,0.00,2.30,0.00,0.000,6,0.000,0.026,2557,2201,3451
$GC,5476,-0.94,-194.6,405.4,-7.1,324,5480,0.00,2.38,0.00,0.000,4,0.000,0.042,2556,799,3449
$GC,5508,-0.94,-194.6,408.0,-7.8,324,5512,0.00,2.35,0.00,0.000,6,0.000,0.028,2557,2197,3449
$GC,5845,-0.94,-194.6,433.4,-7.6,333,5849,0.00,2.40,0.00,0.000,4,0.000,0.041,2556,797,3447
$GC,5967,-0.94,-194.6,442.1,-6.4,335,5973,0.00,2.38,0.00,0.000,6,0.000,0.040,2557,2203,3447
$STATE,6093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6093,begin apogee
$GC,6098,-0.31,0.0,450.4,6.5,339,6256,0.65,0.00,155.98,0.884,6,0.176,0.000,2701,2141,2664
$STATE,6257,end apogee,CONTROL_FINISHED_OK
$STATE,6257,begin climb
$GC,6259,0.94,194.6,458.0,0.0,343,6427,1.20,2.45,159.40,0.858,4,0.042,0.047,2976,762,1869
$GC,6661,0.94,194.6,429.2,8.5,352,6666,0.00,2.38,0.00,0.000,6,0.000,0.029,2975,2150,1857
$GC,7009,0.94,194.6,403.1,7.7,361,7014,0.00,2.42,0.00,0.000,4,0.000,0.045,2975,759,1856
$GC,7042,0.94,194.6,400.3,9.2,361,7049,0.00,2.38,0.00,0.000,6,0.000,0.054,2975,2151,1854
$GC,7373,0.94,194.6,370.1,9.7,370,7377,0.00,2.42,0.00,0.000,4,0.000,0.046,2976,3547,1853
$GC,7427,0.94,194.6,364.4,10.6,371,7431,0.00,2.35,0.00,0.000,6,0.000,0.035,2975,2173,1854
$GC,7740,0.94,194.6,338.3,8.0,379,7744,0.00,2.40,0.00,0.000,4,0.000,0.048,2975,3548,1852
$GC,7800,0.94,194.6,332.3,10.4,380,7804,0.00,2.38,0.00,0.000,6,0.000,0.029,2975,2154,1852
$GC,8148,0.94,194.6,298.4,9.7,389,8152,0.00,2.42,0.00,0.000,4,0.000,0.079,2975,751,1850
$GC,8315,0.94,194.6,281.1,9.5,396,8322,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2156,1849
$GC,8630,0.95,208.8,256.9,6.8,412,8644,0.00,0.00,9.95,0.713,6,0.000,0.000,2975,2158,1812
$GC,8960,0.95,208.8,230.7,9.4,428,8964,0.00,2.38,0.00,0.000,4,0.000,0.042,2975,3546,1810
$GC,9028,0.95,208.8,223.8,9.8,431,9032,0.00,2.35,0.00,0.000,6,0.000,0.038,2975,2140,1810
$GC,9353,1.01,251.2,199.2,6.1,447,9396,0.00,2.50,37.55,0.720,4,0.000,0.075,2975,748,1638
$GC,9457,1.01,251.2,191.7,8.7,456,9464,0.00,2.38,0.00,0.000,6,0.000,0.035,2975,2153,1633
$GC,9783,1.01,251.2,165.5,8.3,487,9787,0.00,2.38,0.00,0.000,4,0.000,0.039,2975,3547,1632
$GC,9837,1.01,251.2,161.0,8.4,491,9844,0.00,2.35,0.00,0.000,6,0.000,0.024,2975,2147,1632
$GC,10163,1.01,251.2,135.7,8.5,522,10167,0.00,2.38,0.00,0.000,4,0.000,0.038,2975,753,1631
$GC,10217,1.01,251.2,131.1,8.1,526,10224,0.00,2.33,0.00,0.000,6,0.000,0.023,2975,2155,1629
$GC,10544,1.01,251.2,106.5,8.5,557,10549,0.00,2.40,0.00,0.000,4,0.000,0.071,2975,752,1629
$GC,10655,1.01,251.2,95.9,9.2,566,10662,0.00,2.30,0.00,0.000,6,0.000,0.058,2975,2150,1629
$GC,10981,1.01,255.0,72.7,7.1,597,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2154,1629
$GC,11299,1.07,299.4,50.1,6.1,627,11346,0.12,2.42,41.25,0.558,4,0.049,0.068,3016,744,1442
$GC,11474,1.07,299.4,37.2,7.3,642,11481,0.00,2.30,0.00,0.000,6,0.000,0.019,3016,2146,1436
$GC,11811,1.07,299.4,12.8,8.1,693,11817,0.00,2.35,0.00,0.000,4,0.000,0.035,3016,749,1436
$GC,11887,1.07,299.4,6.5,8.6,706,11893,0.00,2.25,0.00,0.000,6,0.000,0.041,3016,2156,1435
$STATE,11931,end climb,SURFACE_DEPTH_REACHED
$STATE,11931,begin surface coast
$FINISH,0.0,0.997194
$STATE,11972,end surface coast,CONTROL_FINISHED_OK
$STATE,11972,begin surface
$SM_CCo,11990,8.62,0.458,0,0,1400,310.06
$SM_GC,2.19,0.00,0.00,8.62,0.000,0.000,0.458,428,2160,1400,-10.77,-1.13,310.06
$IRIDIUM_FIX,2054.83,-15749.62,190797,212156
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.90
$XPDR_PINGS,681
$24V_AH,23.6,20.204
$10V_AH,10.2,10.926
$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,25.475,112.975,404.125,8.625,0.000,28.613,27.849,261.634,170.250,0.000,0.000,14.140,1279.293,8503.202,499.523,1674.981,459.746,33.371,1326.390,0.000,1661.955,0.000,0.470
$DEVICE_MAMPS,176.410,98.176,884.351,457.899,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.203,473.334,814.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37939,721
$CAP_FILE_SIZE,102478,8
$CFSIZE,260165632,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,045238,2105.664,-15749.521,29,1.1,29,9.8