version: 66.03
glider: 139
mission: 2
dive: 137
start: 4 26 108 15 13 41
data:
$ID,139
$MISSION,2
$DIVE,137
$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,-1254636.8
$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,39
$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
$GPS1,150326,2105.567,-15750.475,37,1.5,37,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.3
$GPS2,151251,2105.580,-15750.563,12,1.0,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.020
$KALMAN_X,-148140.9,-66.1,244.1,151231.5,-2959.5
$KALMAN_Y,-57696.5,-403.1,-73.7,40431.4,-482.6
$MHEAD_RNG_PITCHd_Wd,75.7,8711,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,70,0.00,0.00,-48.92,0.000,2,0.000,0.000,423,2149,2744
$GC,72,-0.96,-175.2,3.3,-6.3,9,102,12.15,2.35,-12.88,0.000,4,0.161,0.080,2551,796,3381
$GC,125,-0.96,-175.2,12.5,-13.6,18,131,0.00,2.28,0.00,0.000,6,0.000,0.055,2551,2205,3383
$GC,459,-0.96,-175.2,46.6,-10.1,63,463,0.00,2.33,0.00,0.000,4,0.000,0.033,2551,3593,3383
$GC,541,-0.96,-175.2,55.9,-10.8,70,549,0.00,2.30,0.00,0.000,6,0.000,0.019,2551,2194,3383
$GC,866,-0.96,-175.2,92.7,-11.6,101,871,0.00,2.35,0.00,0.000,4,0.000,0.032,2551,3592,3384
$GC,898,-0.96,-175.2,96.5,-11.2,103,906,0.00,2.28,0.00,0.000,6,0.000,0.019,2551,2205,3384
$GC,1224,-0.96,-175.2,126.2,-8.3,134,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2204,3385
$GC,1542,-0.96,-175.2,147.3,-6.4,164,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2204,3385
$GC,1862,-0.96,-175.2,173.5,-8.2,194,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2204,3386
$GC,2179,-0.96,-175.2,200.2,-7.9,224,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2204,3386
$GC,2489,-0.96,-175.2,222.5,-7.0,239,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2203,3386
$GC,2798,-0.96,-175.2,242.9,-6.0,254,2802,0.00,2.35,0.00,0.000,4,0.000,0.035,2551,805,3386
$GC,2829,-0.96,-175.2,245.0,-6.6,255,2836,0.00,2.28,0.00,0.000,6,0.000,0.022,2551,2192,3386
$GC,3146,-0.96,-175.2,263.3,-6.1,271,3150,0.00,2.38,0.00,0.000,4,0.000,0.038,2551,3598,3385
$GC,3195,-0.96,-175.2,266.5,-5.8,273,3199,0.00,2.33,0.00,0.000,6,0.000,0.058,2551,2180,3385
$GC,3516,-0.96,-175.2,287.3,-6.9,289,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2178,3383
$GC,3824,-0.96,-175.2,307.8,-6.3,301,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2178,3383
$GC,4148,-0.96,-175.2,328.0,-6.8,309,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2178,3381
$GC,4473,-0.96,-175.2,349.1,-6.0,317,4477,0.00,2.42,0.00,0.000,4,0.000,0.041,2551,3595,3380
$GC,4518,-0.96,-175.2,351.7,-5.9,318,4522,0.00,2.30,0.00,0.000,6,0.000,0.025,2551,2202,3380
$GC,4841,-0.96,-175.2,370.5,-6.1,326,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2200,3378
$GC,5165,-0.96,-175.2,392.9,-7.0,334,5170,0.00,2.38,0.00,0.000,4,0.000,0.041,2551,804,3377
$GC,5197,-0.96,-175.2,395.3,-7.6,334,5204,0.00,2.33,0.00,0.000,6,0.000,0.027,2552,2188,3376
$GC,5529,-0.96,-175.2,416.1,-5.8,343,5533,0.00,2.42,0.00,0.000,4,0.000,0.045,2551,3598,3375
$GC,5549,-0.96,-175.2,417.3,-5.7,343,5554,0.00,2.35,0.00,0.000,6,0.000,0.063,2551,2202,3375
$GC,5892,-0.96,-175.2,434.6,-4.9,352,5896,0.00,2.40,0.00,0.000,4,0.000,0.043,2551,797,3373
$GC,5924,-0.96,-175.2,436.3,-5.6,352,5930,0.00,2.38,0.00,0.000,6,0.000,0.036,2551,2201,3372
$STATE,6212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6212,begin apogee
$GC,6217,-0.31,0.0,451.6,5.5,360,6361,0.70,0.00,141.07,0.881,6,0.062,0.000,2704,2141,2664
$STATE,6362,end apogee,CONTROL_FINISHED_OK
$STATE,6362,begin climb
$GC,6364,0.96,175.2,456.9,0.0,363,6512,1.20,0.00,143.70,0.858,6,0.041,0.000,2981,2139,1949
$GC,6810,0.96,175.2,432.0,7.4,374,6814,0.00,2.42,0.00,0.000,4,0.000,0.046,2980,758,1939
$GC,6864,0.96,175.2,427.7,7.9,375,6869,0.00,2.38,0.00,0.000,6,0.000,0.067,2981,2146,1936
$GC,7177,0.97,181.2,405.2,7.0,383,7186,0.00,2.47,4.28,0.581,4,0.000,0.055,2981,3546,1925
$GC,7215,0.97,181.2,402.3,7.8,383,7221,0.00,2.38,0.00,0.000,6,0.000,0.063,2981,2168,1925
$GC,7546,0.97,181.2,376.4,8.3,392,7550,0.00,2.47,0.00,0.000,4,0.000,0.051,2981,748,1922
$GC,7622,0.97,181.2,368.5,10.5,393,7629,0.00,2.38,0.00,0.000,6,0.000,0.035,2981,2143,1920
$GC,7953,0.97,181.2,334.8,10.4,402,7957,0.00,2.42,0.00,0.000,4,0.000,0.045,2981,748,1920
$GC,8053,0.97,181.2,323.9,10.8,404,8057,0.00,2.38,0.00,0.000,6,0.000,0.029,2981,2148,1918
$GC,8366,0.97,181.2,297.1,7.8,412,8370,0.00,2.42,0.00,0.000,4,0.000,0.064,2981,3550,1918
$GC,8550,0.98,194.1,284.0,6.8,420,8567,0.00,2.35,11.45,0.744,6,0.000,0.028,2981,2143,1872
$GC,8887,0.98,194.1,258.4,8.0,437,8891,0.00,2.42,0.00,0.000,4,0.000,0.043,2981,3549,1869
$GC,8919,0.98,194.1,255.5,8.3,438,8924,0.00,2.38,0.00,0.000,6,0.000,0.061,2981,2151,1869
$GC,9241,0.98,194.1,231.1,7.8,454,9244,0.00,2.38,0.00,0.000,4,0.000,0.044,2981,752,1869
$GC,9301,0.98,194.1,226.0,8.7,456,9308,0.00,2.35,0.00,0.000,6,0.000,0.027,2981,2150,1867
$GC,9616,0.98,194.1,201.9,7.3,472,9620,0.00,2.38,0.00,0.000,4,0.000,0.041,2981,3546,1867
$GC,9642,0.98,194.1,199.9,7.3,473,9647,0.00,2.35,0.00,0.000,6,0.000,0.025,2981,2147,1867
$GC,9973,0.98,194.1,177.5,7.3,504,9977,0.00,2.40,0.00,0.000,4,0.000,0.041,2980,745,1867
$GC,10057,0.98,194.1,170.9,8.3,511,10061,0.00,2.33,0.00,0.000,6,0.000,0.025,2981,2157,1866
$GC,10381,1.03,233.0,149.7,6.1,541,10424,0.00,2.47,33.88,0.653,4,0.000,0.069,2980,758,1712
$GC,10503,1.10,291.7,142.4,5.5,552,10559,0.12,2.30,50.88,0.643,6,0.050,0.022,3018,2162,1474
$GC,10884,1.10,291.7,108.2,9.4,588,10888,0.00,2.40,0.00,0.000,4,0.000,0.038,3018,752,1466
$GC,10915,1.10,291.7,104.6,11.2,590,10922,0.00,2.30,0.00,0.000,6,0.000,0.035,3018,2141,1464
$GC,11243,1.10,291.7,71.7,8.1,621,11247,0.00,2.38,0.00,0.000,4,0.000,0.071,3018,752,1464
$GC,11321,1.10,291.7,64.3,10.2,627,11327,0.00,2.25,0.00,0.000,6,0.000,0.021,3018,2149,1463
$GC,11646,1.10,291.7,35.7,8.6,658,11650,0.00,2.35,0.00,0.000,4,0.000,0.041,3018,3547,1463
$GC,11718,1.10,291.7,28.9,9.6,664,11724,0.00,2.28,0.00,0.000,6,0.000,0.021,3018,2145,1464
$STATE,12015,end climb,SURFACE_DEPTH_REACHED
$STATE,12015,begin surface coast
$FINISH,0.2,1.023247
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12076,14.62,0.493,0,0,1400,310.06
$SM_GC,1.49,0.00,0.00,14.62,0.000,0.000,0.493,422,2142,1400,-10.80,-1.61,310.06
$IRIDIUM_FIX,2057.14,-15751.76,210797,151555
$TT8_MAMPS,0.029146
$HUMID,1825
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.70
$XPDR_PINGS,660
$24V_AH,23.6,21.627
$10V_AH,10.2,11.771
$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,25.375,104.000,385.250,14.625,0.000,54.958,56.177,276.231,165.000,0.000,0.000,14.129,1263.353,8762.287,485.321,1583.678,551.574,33.369,1267.076,0.000,1580.320,0.000,0.470
$DEVICE_MAMPS,161.070,97.409,881.283,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.375,474.047,807.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38029,724
$CAP_FILE_SIZE,98679,7
$CFSIZE,260165632,251453440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,183625,2105.075,-15750.395,37,1.1,37,9.8