version: 66.03
glider: 139
mission: 2
dive: 132
start: 4 25 108 22 38 47
data:
$ID,139
$MISSION,2
$DIVE,132
$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,180
$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,-1254563
$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,58
$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
$GPS1,222838,2108.186,-15753.240,37,0.9,37,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.7
$GPS2,223757,2108.143,-15753.192,13,1.1,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.154
$KALMAN_X,-137104.3,-195.0,-212.8,136251.2,-486.0
$KALMAN_Y,-58021.5,-62.1,229.7,44854.2,-125.8
$MHEAD_RNG_PITCHd_Wd,117.5,15279,-11.9,-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,-0.96,-175.2,0.0,0.0,0,70,0.00,0.00,-49.85,0.000,2,0.000,0.000,424,2156,2778
$GC,72,-0.96,-175.2,3.5,-7.0,9,102,12.20,2.28,-11.82,0.000,4,0.162,0.045,2552,799,3380
$GC,276,-0.96,-175.2,31.8,-11.6,44,280,0.00,2.25,0.00,0.000,6,0.000,0.057,2553,2195,3382
$GC,601,-0.96,-175.2,72.1,-10.3,74,605,0.00,2.33,0.00,0.000,4,0.000,0.033,2552,3590,3382
$GC,679,-0.96,-175.2,79.0,-8.5,81,683,0.00,2.25,0.00,0.000,6,0.000,0.020,2552,2190,3382
$GC,1010,-0.96,-175.2,104.3,-6.1,112,1014,0.00,2.35,0.00,0.000,4,0.000,0.039,2553,3591,3383
$GC,1117,-0.96,-175.2,111.8,-7.1,121,1121,0.00,2.25,0.00,0.000,6,0.000,0.019,2553,2196,3383
$GC,1442,-0.96,-175.2,140.2,-8.3,151,1446,0.00,2.33,0.00,0.000,4,0.000,0.033,2552,801,3384
$GC,1463,-0.96,-175.2,142.2,-8.6,152,1469,0.00,2.28,0.00,0.000,6,0.000,0.020,2553,2198,3385
$GC,1790,-0.96,-175.2,165.7,-6.7,183,1794,0.00,2.33,0.00,0.000,4,0.000,0.064,2552,806,3385
$GC,1829,-0.96,-175.2,168.8,-7.4,186,1833,0.00,2.25,0.00,0.000,6,0.000,0.020,2553,2206,3384
$GC,2154,-0.96,-175.2,189.2,-8.8,216,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2209,3384
$GC,2476,-0.96,-175.2,216.1,-8.1,238,2480,0.00,2.35,0.00,0.000,4,0.000,0.034,2552,803,3384
$GC,2576,-0.96,-175.2,224.8,-8.6,242,2583,0.00,2.28,0.00,0.000,6,0.000,0.021,2553,2194,3384
$GC,2891,-0.96,-175.2,249.7,-7.9,258,2896,0.00,2.35,0.00,0.000,4,0.000,0.037,2552,3590,3382
$GC,2957,-0.96,-175.2,255.4,-8.4,261,2962,0.00,2.28,0.00,0.000,6,0.000,0.021,2552,2206,3382
$GC,3284,-0.96,-175.2,278.8,-6.7,277,3289,0.00,2.35,0.00,0.000,4,0.000,0.036,2552,805,3382
$GC,3384,-0.96,-175.2,286.1,-7.7,281,3391,0.00,2.30,0.00,0.000,6,0.000,0.023,2553,2196,3382
$GC,3698,-0.96,-175.2,307.4,-7.4,295,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2197,3381
$GC,4023,-0.96,-175.2,334.9,-8.4,303,4027,0.00,2.38,0.00,0.000,4,0.000,0.041,2553,3593,3380
$GC,4072,-0.96,-175.2,339.1,-8.8,304,4077,0.00,2.30,0.00,0.000,6,0.000,0.061,2553,2207,3379
$GC,4391,-0.96,-175.2,364.4,-7.7,312,4395,0.00,2.38,0.00,0.000,4,0.000,0.039,2552,806,3378
$GC,4411,-0.96,-175.2,366.1,-7.8,312,4416,0.00,2.33,0.00,0.000,6,0.000,0.026,2552,2198,3378
$GC,4754,-0.96,-175.2,393.1,-8.0,321,4758,0.00,2.40,0.00,0.000,4,0.000,0.044,2553,3604,3375
$GC,4791,-0.96,-175.2,396.4,-8.6,321,4798,0.00,2.33,0.00,0.000,6,0.000,0.025,2553,2209,3375
$GC,5122,-0.96,-175.2,421.3,-7.0,330,5127,0.00,2.40,0.00,0.000,4,0.000,0.041,2553,798,3372
$GC,5194,-0.96,-175.2,426.5,-7.5,331,5199,0.00,2.35,0.00,0.000,6,0.000,0.062,2553,2193,3372
$GC,5531,-0.96,-175.2,447.1,-6.1,340,5535,0.00,2.42,0.00,0.000,4,0.000,0.047,2553,3597,3370
$GC,5568,-0.96,-175.2,449.8,-7.1,340,5575,0.00,2.35,0.00,0.000,6,0.000,0.028,2553,2200,3370
$STATE,5613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5613,begin apogee
$GC,5618,-0.31,0.0,452.9,6.8,342,5761,0.68,0.00,140.65,0.880,6,0.062,0.000,2701,2134,2664
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5764,0.96,175.2,458.7,0.0,345,5912,1.25,0.00,143.30,0.854,6,0.106,0.000,2981,2134,1949
$GC,6221,0.96,175.2,430.4,8.8,357,6226,0.00,2.47,0.00,0.000,4,0.000,0.046,2981,3546,1939
$GC,6248,0.96,175.2,427.7,9.5,357,6252,0.00,2.38,0.00,0.000,6,0.000,0.036,2981,2166,1939
$GC,6585,0.96,175.2,399.2,8.2,366,6589,0.00,2.47,0.00,0.000,4,0.000,0.046,2981,742,1935
$GC,6639,0.96,175.2,394.5,8.9,367,6643,0.00,2.40,0.00,0.000,6,0.000,0.029,2981,2151,1934
$GC,6952,0.96,175.2,369.9,7.9,375,6956,0.00,2.42,0.00,0.000,4,0.000,0.046,2981,3548,1933
$GC,7046,0.96,175.2,361.7,8.8,377,7050,0.00,2.38,0.00,0.000,6,0.000,0.029,2981,2137,1933
$GC,7364,0.96,175.2,334.1,9.0,385,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2136,1932
$GC,7689,0.96,175.2,303.3,9.7,393,7693,0.00,2.45,0.00,0.000,4,0.000,0.044,2981,3549,1931
$GC,7789,0.96,175.2,294.8,8.3,396,7796,0.00,2.38,0.00,0.000,6,0.000,0.028,2980,2153,1930
$GC,8104,0.96,175.2,270.8,7.8,412,8108,0.00,2.42,0.00,0.000,4,0.000,0.043,2981,3556,1930
$GC,8126,0.96,175.2,269.0,8.5,413,8130,0.00,2.38,0.00,0.000,6,0.000,0.040,2981,2137,1929
$GC,8451,0.96,175.2,243.6,7.4,429,8455,0.00,2.38,0.00,0.000,4,0.000,0.043,2981,749,1927
$GC,8562,0.96,175.2,234.7,8.0,434,8566,0.00,2.33,0.00,0.000,6,0.000,0.028,2980,2156,1926
$GC,8888,0.98,193.7,210.8,6.6,450,8910,0.00,2.42,12.82,0.693,4,0.000,0.068,2980,3545,1874
$GC,8970,0.98,193.7,205.0,7.4,453,8977,0.00,2.38,0.00,0.000,6,0.000,0.033,2981,2146,1873
$GC,9292,1.01,217.8,186.6,6.5,480,9324,0.00,2.50,21.98,0.688,4,0.000,0.074,2980,744,1774
$GC,9418,1.01,217.8,176.6,8.6,491,9425,0.00,2.35,0.00,0.000,6,0.000,0.035,2981,2145,1770
$GC,9744,1.01,217.8,151.7,8.1,522,9748,0.00,2.38,0.00,0.000,4,0.000,0.038,2981,3546,1770
$GC,9805,1.01,217.8,145.9,10.2,527,9810,0.00,2.33,0.00,0.000,6,0.000,0.059,2981,2141,1770
$GC,10130,1.02,225.4,114.5,6.9,557,10140,0.00,0.00,7.43,0.548,6,0.000,0.000,2981,2139,1744
$GC,10461,1.11,294.6,98.4,5.3,588,10527,0.12,2.45,59.62,0.608,4,0.051,0.070,3017,755,1462
$GC,10553,1.11,294.6,90.6,9.1,596,10561,0.00,2.33,0.00,0.000,6,0.000,0.058,3017,2151,1458
$GC,10880,1.11,294.6,59.2,10.5,627,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2156,1456
$GC,11199,1.11,294.6,27.4,9.9,659,11206,0.00,2.38,0.00,0.000,4,0.000,0.049,3018,746,1454
$GC,11285,1.11,294.6,18.6,10.1,674,11291,0.00,2.25,0.00,0.000,6,0.000,0.020,3018,2154,1452
$STATE,11469,end climb,SURFACE_DEPTH_REACHED
$STATE,11469,begin surface coast
$FINISH,0.1,0.998753
$STATE,11509,end surface coast,CONTROL_FINISHED_OK
$STATE,11510,begin surface
$SM_CCo,11528,12.18,0.495,0,0,1400,310.06
$SM_GC,1.97,0.00,0.00,12.18,0.000,0.000,0.495,430,2157,1400,-10.76,-1.22,310.06
$IRIDIUM_FIX,2101.76,-15753.03,200797,222209
$TT8_MAMPS,0.029146
$HUMID,1824
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.60
$XPDR_PINGS,671
$24V_AH,23.6,20.995
$10V_AH,10.2,11.396
$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,25.425,113.050,385.800,12.175,0.000,54.564,61.396,264.725,167.750,0.000,0.000,14.729,1255.908,8184.889,501.688,1601.682,547.307,33.370,1289.928,0.000,1599.853,0.000,0.471
$DEVICE_MAMPS,161.837,102.011,879.749,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.371,477.097,810.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37920,714
$CAP_FILE_SIZE,98677,6
$CFSIZE,260165632,251695104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,015225,2107.444,-15752.659,41,0.9,41,9.8