version: 66.03
glider: 139
mission: 2
dive: 147
start: 4 28 108 1 28 13
data:
$ID,139
$MISSION,2
$DIVE,147
$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,-1254793.6
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,012102,2104.122,-15749.342,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.4
$GPS2,012721,2104.091,-15749.331,11,1.4,11,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,0.140
$KALMAN_X,-150558.1,-627.7,119.8,156466.6,960.2
$KALMAN_Y,-58148.2,-566.0,175.7,38039.5,96.5
$MHEAD_RNG_PITCHd_Wd,294.3,13629,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.92,-175.2,0.0,0.0,0,71,0.00,0.00,-49.53,0.000,2,0.000,0.000,431,2163,2769
$GC,73,-0.92,-175.2,3.3,-6.4,9,103,12.20,2.45,-12.12,0.000,4,0.163,0.077,2560,3584,3381
$GC,283,-0.92,-175.2,29.9,-10.6,46,289,0.00,2.25,0.00,0.000,6,0.000,0.020,2559,2187,3383
$GC,607,-0.92,-175.2,64.7,-8.4,77,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2185,3383
$GC,926,-0.92,-175.2,92.7,-9.1,107,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2185,3384
$GC,1244,-0.92,-175.2,120.5,-7.6,137,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2185,3384
$GC,1563,-0.92,-175.2,147.3,-8.4,167,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2185,3384
$GC,1881,-0.92,-175.2,175.1,-8.5,197,1886,0.00,2.35,0.00,0.000,4,0.000,0.035,2559,3582,3385
$GC,2010,-0.92,-175.2,185.2,-8.6,208,2014,0.00,2.25,0.00,0.000,6,0.000,0.021,2559,2190,3385
$GC,2343,-0.92,-175.2,206.2,-5.6,234,2347,0.00,2.35,0.00,0.000,4,0.000,0.064,2560,3584,3386
$GC,2375,-0.92,-175.2,208.2,-5.9,235,2381,0.00,2.28,0.00,0.000,6,0.000,0.021,2560,2197,3386
$GC,2690,-0.92,-175.2,225.3,-5.9,251,2695,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,807,3386
$GC,2730,-0.92,-175.2,227.7,-6.6,253,2734,0.00,2.25,0.00,0.000,6,0.000,0.022,2560,2195,3386
$GC,3056,-0.92,-175.2,248.6,-7.1,269,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,3385
$GC,3365,-0.92,-175.2,273.1,-8.4,284,3369,0.00,2.33,0.00,0.000,4,0.000,0.036,2559,811,3384
$GC,3391,-0.92,-175.2,275.4,-8.8,285,3395,0.00,2.28,0.00,0.000,6,0.000,0.024,2560,2189,3384
$GC,3713,-0.92,-175.2,295.2,-4.2,301,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2190,3382
$GC,4039,-0.92,-175.2,308.4,-3.8,312,4043,0.00,2.35,0.00,0.000,4,0.000,0.038,2559,807,3380
$GC,4088,-0.92,-175.2,311.1,-5.7,313,4092,0.00,2.30,0.00,0.000,6,0.000,0.026,2559,2202,3380
$GC,4406,-0.92,-175.2,333.1,-7.7,321,4410,0.00,2.38,0.00,0.000,4,0.000,0.042,2560,3594,3379
$GC,4460,-0.92,-175.2,337.6,-8.0,322,4465,0.00,2.33,0.00,0.000,6,0.000,0.025,2560,2204,3379
$GC,4773,-0.92,-175.2,357.1,-5.7,330,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3377
$GC,5098,-0.92,-175.2,375.0,-5.4,338,5102,0.00,2.38,0.00,0.000,4,0.000,0.041,2559,805,3375
$GC,5142,-0.92,-175.2,377.2,-5.1,339,5146,0.00,2.30,0.00,0.000,6,0.000,0.027,2559,2197,3375
$GC,5466,-0.92,-175.2,394.8,-5.6,347,5470,0.00,2.40,0.00,0.000,4,0.000,0.044,2560,3596,3373
$GC,5505,-0.92,-175.2,397.2,-6.8,348,5509,0.00,2.33,0.00,0.000,6,0.000,0.062,2560,2197,3373
$GC,5829,-0.92,-175.2,414.0,-4.8,356,5833,0.00,2.40,0.00,0.000,4,0.000,0.042,2559,796,3370
$GC,5856,-0.92,-175.2,415.5,-5.4,356,5860,0.00,2.35,0.00,0.000,6,0.000,0.028,2560,2206,3370
$GC,6193,-0.92,-175.2,432.9,-5.4,365,6197,0.00,2.40,0.00,0.000,4,0.000,0.054,2560,3599,3368
$GC,6214,-0.92,-175.2,434.1,-5.4,365,6218,0.00,2.35,0.00,0.000,6,0.000,0.027,2560,2204,3368
$STATE,6514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6514,begin apogee
$GC,6519,-0.31,0.0,452.2,6.5,373,6662,0.65,0.00,140.88,0.890,6,0.183,0.000,2700,2138,2664
$STATE,6663,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6665,0.92,175.2,458.3,0.0,376,6812,0.22,0.00,145.05,0.864,6,0.167,0.000,2765,2138,1948
$GC,7121,0.97,212.4,442.1,5.9,388,7163,0.95,2.50,31.90,0.844,4,0.051,0.081,2982,759,1796
$GC,7253,0.97,212.4,430.0,10.0,391,7257,0.00,2.35,0.00,0.000,6,0.000,0.065,2982,2150,1790
$GC,7576,0.97,212.4,402.4,8.4,399,7581,0.00,2.45,0.00,0.000,4,0.000,0.048,2982,3549,1789
$GC,7625,0.97,212.4,397.8,9.1,400,7630,0.00,2.38,0.00,0.000,6,0.000,0.031,2982,2165,1789
$GC,7944,0.97,212.4,365.7,10.8,408,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2163,1787
$GC,8269,0.97,212.4,332.7,9.7,416,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2163,1786
$GC,8594,0.97,212.4,306.1,7.8,424,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2163,1785
$GC,8901,0.97,212.4,281.2,8.8,436,8905,0.00,2.45,0.00,0.000,4,0.000,0.051,2982,746,1784
$GC,8978,0.97,212.4,273.9,9.5,439,8984,0.00,2.38,0.00,0.000,6,0.000,0.028,2982,2151,1782
$GC,9293,0.97,212.4,251.7,7.2,455,9298,0.00,2.40,0.00,0.000,4,0.000,0.049,2982,3549,1782
$GC,9337,0.97,212.4,247.7,10.1,457,9341,0.00,2.38,0.00,0.000,6,0.000,0.028,2982,2146,1782
$GC,9664,0.97,212.4,216.8,9.5,473,9668,0.00,2.38,0.00,0.000,4,0.000,0.043,2982,750,1781
$GC,9755,0.97,212.4,208.0,10.2,477,9759,0.00,2.33,0.00,0.000,6,0.000,0.026,2982,2155,1780
$GC,10078,1.04,266.6,183.0,5.4,503,10129,0.00,0.00,45.70,0.706,6,0.000,0.000,2982,2160,1575
$GC,10447,1.04,266.6,160.1,7.2,538,10451,0.00,2.38,0.00,0.000,4,0.000,0.038,2982,3547,1569
$GC,10508,1.04,266.6,155.5,7.3,543,10512,0.00,2.33,0.00,0.000,6,0.000,0.024,2982,2144,1569
$GC,10832,1.04,266.6,128.8,8.9,573,10836,0.00,2.38,0.00,0.000,4,0.000,0.038,2982,752,1567
$GC,10915,1.04,266.6,121.3,8.8,580,10920,0.00,2.30,0.00,0.000,6,0.000,0.023,2982,2157,1564
$GC,11241,1.11,323.2,101.5,5.3,610,11296,0.12,2.50,48.38,0.607,4,0.050,0.044,3020,752,1344
$GC,11379,1.11,323.2,90.4,8.7,622,11386,0.00,2.33,0.00,0.000,6,0.000,0.056,3020,2157,1339
$GC,11705,1.11,323.2,68.5,7.6,653,11710,0.00,2.40,0.00,0.000,4,0.000,0.069,3020,753,1339
$GC,11823,1.11,323.2,57.4,10.6,663,11828,0.00,2.28,0.00,0.000,6,0.000,0.020,3020,2157,1337
$GC,12150,1.11,323.2,23.9,9.7,698,12157,0.00,2.38,0.00,0.000,4,0.000,0.035,3020,752,1337
$GC,12220,1.11,323.2,16.9,9.6,710,12227,0.00,2.25,0.00,0.000,6,0.000,0.020,3020,2155,1336
$STATE,12389,end climb,SURFACE_DEPTH_REACHED
$STATE,12389,begin surface coast
$FINISH,0.4,1.023244
$STATE,12423,end surface coast,CONTROL_FINISHED_OK
$STATE,12423,begin surface
$SM_CCo,12502,0.00,0.000,0,0,1335,326.00
$SM_GC,1.12,11.12,0.00,0.00,0.037,0.000,0.000,423,2158,1335,-10.69,-1.22,326.00
$IRIDIUM_FIX,2057.14,-15748.75,220797,212147
$TT8_MAMPS,0.028379
$HUMID,1809
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.80
$XPDR_PINGS,672
$24V_AH,23.6,22.778
$10V_AH,10.2,12.557
$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,25.275,98.875,411.900,0.000,0.000,28.890,32.361,205.437,168.000,0.000,0.000,12.717,1304.162,9025.606,513.134,1596.204,432.825,33.366,1278.409,0.000,1599.901,0.000,0.470
$DEVICE_MAMPS,183.313,102.778,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.985,491.980,832.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37982,746
$CAP_FILE_SIZE,97989,6
$CFSIZE,260165632,250949632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,045738,2104.754,-15751.076,29,2.0,29,9.8