version: 66.03
glider: 139
mission: 2
dive: 146
start: 4 27 108 21 45 49
data:
$ID,139
$MISSION,2
$DIVE,146
$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,220
$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,-1254780.2
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,213907,2103.452,-15747.891,27,0.9,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.1
$GPS2,214457,2103.452,-15747.931,13,1.4,13,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.231,0.096
$KALMAN_X,-151228.8,-264.8,-200.2,159507.9,973.5
$KALMAN_Y,-58120.0,-248.6,-64.9,36750.6,752.5
$MHEAD_RNG_PITCHd_Wd,282.7,16163,-11.3,-6.818
$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,-0.92,-175.2,0.0,0.0,0,70,0.00,0.00,-49.58,0.000,2,0.000,0.000,429,2157,2861
$GC,72,-0.92,-175.2,3.6,-7.1,9,101,11.98,2.40,-9.75,0.000,4,0.155,0.044,2560,3587,3382
$GC,347,-0.92,-175.2,39.6,-10.7,50,354,0.00,2.30,0.00,0.000,6,0.000,0.019,2559,2192,3384
$GC,672,-0.92,-175.2,71.6,-9.4,81,676,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,797,3384
$GC,727,-0.92,-175.2,77.0,-9.2,85,734,0.00,2.28,0.00,0.000,6,0.000,0.019,2560,2191,3384
$GC,1053,-0.92,-175.2,107.5,-8.6,116,1057,0.00,2.33,0.00,0.000,4,0.000,0.038,2560,3587,3385
$GC,1080,-0.92,-175.2,110.1,-8.4,118,1087,0.00,2.25,0.00,0.000,6,0.000,0.056,2560,2187,3385
$GC,1405,-0.92,-175.2,137.9,-9.4,149,1409,0.00,2.30,0.00,0.000,4,0.000,0.034,2560,807,3386
$GC,1448,-0.92,-175.2,142.4,-10.9,152,1455,0.00,2.28,0.00,0.000,6,0.000,0.019,2560,2202,3386
$GC,1775,-0.92,-175.2,169.1,-7.3,183,1779,0.00,2.33,0.00,0.000,4,0.000,0.049,2560,3587,3387
$GC,1830,-0.92,-175.2,173.1,-7.4,187,1836,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2199,3387
$GC,2156,-0.92,-175.2,194.5,-6.8,218,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2197,3387
$GC,2467,-0.92,-175.2,216.1,-7.4,237,2471,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,808,3387
$GC,2499,-0.92,-175.2,218.7,-7.8,238,2506,0.00,2.28,0.00,0.000,6,0.000,0.021,2560,2194,3387
$GC,2814,-0.92,-175.2,238.4,-5.6,254,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2195,3386
$GC,3125,-0.92,-175.2,256.0,-5.5,269,3129,0.00,2.33,0.00,0.000,4,0.000,0.036,2559,809,3386
$GC,3157,-0.92,-175.2,258.0,-6.6,270,3164,0.00,2.30,0.00,0.000,6,0.000,0.023,2560,2200,3386
$GC,3472,-0.92,-175.2,276.3,-6.3,286,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3385
$GC,3782,-0.92,-175.2,295.2,-5.9,301,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3383
$GC,4108,-0.92,-175.2,315.1,-6.2,311,4112,0.00,2.38,0.00,0.000,4,0.000,0.042,2560,3591,3382
$GC,4140,-0.92,-175.2,317.2,-6.4,311,4146,0.00,2.30,0.00,0.000,6,0.000,0.061,2560,2198,3381
$GC,4471,-0.92,-175.2,338.2,-6.0,320,4475,0.00,2.38,0.00,0.000,4,0.000,0.040,2559,800,3380
$GC,4509,-0.92,-175.2,340.6,-6.6,321,4514,0.00,2.30,0.00,0.000,6,0.000,0.027,2559,2195,3380
$GC,4838,-0.92,-175.2,359.4,-6.0,329,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,3378
$GC,5163,-0.92,-175.2,382.7,-7.6,337,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,3377
$GC,5488,-0.92,-175.2,401.7,-5.5,345,5493,0.00,2.38,0.00,0.000,4,0.000,0.041,2559,807,3374
$GC,5515,-0.92,-175.2,403.3,-6.3,345,5520,0.00,2.35,0.00,0.000,6,0.000,0.064,2560,2195,3375
$GC,5852,-0.92,-175.2,423.4,-5.9,354,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,3373
$GC,6177,-0.92,-175.2,442.5,-5.9,362,6181,0.00,2.40,0.00,0.000,4,0.000,0.043,2559,804,3370
$GC,6209,-0.92,-175.2,444.4,-6.3,362,6215,0.00,2.33,0.00,0.000,6,0.000,0.030,2560,2199,3370
$STATE,6335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6335,begin apogee
$GC,6339,-0.31,0.0,450.9,5.1,366,6483,0.65,0.00,141.32,0.893,6,0.064,0.000,2702,2199,2664
$STATE,6484,end apogee,CONTROL_FINISHED_OK
$STATE,6484,begin climb
$GC,6486,0.92,175.2,454.2,0.0,369,6638,1.20,2.58,144.05,0.863,4,0.056,0.075,2972,757,1947
$GC,6705,0.92,175.2,441.9,9.7,374,6709,0.00,2.38,0.00,0.000,6,0.000,0.029,2972,2141,1940
$GC,7017,0.92,175.2,414.2,8.5,382,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2141,1937
$GC,7342,0.92,175.2,385.3,9.3,390,7346,0.00,2.42,0.00,0.000,4,0.000,0.045,2972,753,1934
$GC,7397,0.92,175.2,380.0,9.5,391,7402,0.00,2.40,0.00,0.000,6,0.000,0.060,2972,2153,1932
$GC,7710,0.92,175.2,354.7,7.8,399,7714,0.00,2.42,0.00,0.000,4,0.000,0.055,2972,3548,1932
$GC,7741,0.92,175.2,351.8,8.7,399,7748,0.00,2.38,0.00,0.000,6,0.000,0.064,2972,2160,1932
$GC,8073,0.92,175.2,325.7,7.8,408,8077,0.00,2.45,0.00,0.000,4,0.000,0.078,2972,749,1931
$GC,8111,0.92,175.2,322.7,7.6,409,8115,0.00,2.38,0.00,0.000,6,0.000,0.048,2972,2161,1929
$GC,8433,0.92,175.2,301.3,7.0,417,8438,0.00,2.40,0.00,0.000,4,0.000,0.045,2972,3548,1929
$GC,8505,0.92,175.2,295.2,8.2,419,8509,0.00,2.38,0.00,0.000,6,0.000,0.028,2972,2151,1929
$GC,8827,0.94,184.4,272.4,6.6,435,8834,0.00,0.00,5.55,0.629,6,0.000,0.000,2972,2150,1912
$GC,9135,0.94,184.4,249.3,7.9,450,9139,0.00,2.40,0.00,0.000,4,0.000,0.043,2972,747,1910
$GC,9224,0.94,184.4,242.1,8.2,454,9228,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2146,1908
$GC,9550,0.98,219.0,222.2,5.9,470,9586,0.00,2.47,31.15,0.738,4,0.000,0.058,2972,740,1770
$GC,9647,0.98,219.0,215.3,7.1,473,9653,0.00,2.35,0.00,0.000,6,0.000,0.059,2972,2148,1765
$GC,9965,0.98,219.0,193.8,7.6,493,9969,0.00,2.42,0.00,0.000,4,0.000,0.041,2972,740,1764
$GC,10021,0.98,219.0,189.4,7.2,497,10027,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2158,1761
$GC,10346,0.98,219.0,165.6,7.2,528,10350,0.00,2.35,0.00,0.000,4,0.000,0.039,2972,3540,1761
$GC,10469,0.98,219.0,156.7,6.9,539,10473,0.00,2.33,0.00,0.000,6,0.000,0.032,2972,2136,1761
$GC,10793,0.98,219.0,136.0,6.9,569,10797,0.00,2.35,0.00,0.000,4,0.000,0.038,2972,754,1761
$GC,10847,0.98,219.0,132.1,7.2,573,10854,0.00,2.33,0.00,0.000,6,0.000,0.058,2972,2155,1761
$GC,11173,1.00,239.9,113.5,6.3,604,11196,0.00,2.40,18.38,0.603,4,0.000,0.044,2972,3543,1685
$GC,11230,1.00,239.9,109.6,7.3,609,11234,0.00,2.30,0.00,0.000,6,0.000,0.021,2972,2149,1684
$GC,11555,1.02,250.6,92.5,6.5,639,11570,0.00,2.38,10.52,0.546,4,0.000,0.067,2972,754,1641
$GC,11676,1.02,250.6,83.1,7.0,649,11684,0.00,2.30,0.00,0.000,6,0.000,0.020,2972,2157,1637
$GC,12004,1.11,324.9,62.7,4.9,680,12078,0.15,2.47,64.05,0.561,4,0.044,0.067,3021,755,1337
$GC,12168,1.11,324.9,49.8,8.8,695,12173,0.00,2.28,0.00,0.000,6,0.000,0.025,3022,2157,1332
$GC,12498,1.11,324.9,21.6,8.0,734,12504,0.00,2.38,0.00,0.000,4,0.000,0.035,3021,747,1331
$GC,12594,1.11,324.9,13.2,8.9,751,12601,0.00,2.25,0.00,0.000,6,0.000,0.019,3022,2161,1329
$STATE,12723,end climb,SURFACE_DEPTH_REACHED
$STATE,12723,begin surface coast
$FINISH,0.1,1.011943
$STATE,12763,end surface coast,CONTROL_FINISHED_OK
$STATE,12763,begin surface
$SM_CCo,12842,0.00,0.000,0,0,1326,328.21
$SM_GC,0.85,11.18,0.00,0.00,0.035,0.000,0.000,431,2163,1326,-10.69,-1.05,328.21
$IRIDIUM_FIX,2057.14,-15746.61,220797,181832
$TT8_MAMPS,0.028379
$HUMID,1767
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.10
$XPDR_PINGS,687
$24V_AH,23.6,22.648
$10V_AH,10.2,12.478
$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,25.150,117.675,415.025,0.000,0.000,27.897,35.257,174.284,171.750,0.000,0.000,14.528,1359.692,9201.893,501.775,1719.743,400.595,33.364,1352.495,0.000,1708.118,0.000,0.470
$DEVICE_MAMPS,154.934,78.234,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.869,514.086,889.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41244,781
$CAP_FILE_SIZE,104173,8
$CFSIZE,260165632,250990592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,012102,2104.122,-15749.342,37,1.3,37,9.8