version: 66.03
glider: 139
mission: 2
dive: 148
start: 4 28 108 5 4 53
data:
$ID,139
$MISSION,2
$DIVE,148
$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,-1254825.9
$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,56
$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
$GPS1,045738,2104.754,-15751.076,29,2.0,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.5
$GPS2,050402,2104.723,-15751.152,13,1.9,30,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.199,0.152
$KALMAN_X,-150739.5,-604.3,-156.5,153765.6,771.6
$KALMAN_Y,-58362.2,-552.4,-323.0,39909.8,727.1
$MHEAD_RNG_PITCHd_Wd,297.5,10755,-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,-49.60,0.000,2,0.000,0.000,423,2158,2802
$GC,72,-0.92,-175.2,3.3,-6.3,9,102,12.27,1.40,-11.02,0.000,4,0.164,0.104,2557,3031,3379
$GC,314,-0.92,-175.2,39.2,-11.5,46,321,0.00,1.38,0.00,0.000,6,0.000,0.019,2557,2180,3381
$GC,639,-0.92,-175.2,70.4,-9.9,77,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2178,3381
$GC,958,-0.92,-175.2,98.8,-8.5,107,962,0.00,2.35,0.00,0.000,4,0.000,0.032,2557,3584,3382
$GC,1001,-0.92,-175.2,102.6,-8.6,110,1008,0.00,2.25,0.00,0.000,6,0.000,0.019,2557,2212,3382
$GC,1327,-0.92,-175.2,127.5,-8.6,141,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2211,3382
$GC,1645,-0.92,-175.2,155.6,-10.2,171,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2211,3383
$GC,1963,-0.92,-175.2,179.3,-5.9,201,1968,0.00,2.30,0.00,0.000,4,0.000,0.034,2557,3584,3384
$GC,2007,-0.92,-175.2,182.7,-7.6,204,2014,0.00,2.28,0.00,0.000,6,0.000,0.020,2557,2201,3384
$GC,2340,-0.92,-175.2,207.0,-7.6,232,2344,0.00,2.33,0.00,0.000,4,0.000,0.035,2557,808,3384
$GC,2383,-0.92,-175.2,210.6,-8.7,234,2387,0.00,2.28,0.00,0.000,6,0.000,0.021,2557,2196,3384
$GC,2710,-0.92,-175.2,236.3,-7.8,250,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3384
$GC,3019,-0.92,-175.2,256.3,-5.4,265,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3383
$GC,3328,-0.92,-175.2,270.7,-5.2,280,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3382
$GC,3638,-0.92,-175.2,290.7,-6.8,295,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2199,3381
$GC,3965,-0.92,-175.2,310.2,-5.7,307,3969,0.00,2.35,0.00,0.000,4,0.000,0.038,2557,810,3379
$GC,4019,-0.92,-175.2,314.1,-7.5,308,4024,0.00,2.30,0.00,0.000,6,0.000,0.025,2557,2192,3379
$GC,4332,-0.92,-175.2,331.5,-4.7,316,4336,0.00,2.40,0.00,0.000,4,0.000,0.042,2557,3598,3378
$GC,4372,-0.92,-175.2,333.3,-5.0,317,4376,0.00,2.30,0.00,0.000,6,0.000,0.033,2557,2203,3378
$GC,4694,-0.92,-175.2,352.8,-7.1,325,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2201,3376
$GC,5019,-0.92,-175.2,374.6,-6.5,333,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2201,3374
$GC,5345,-0.92,-175.2,392.6,-5.1,341,5349,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,3594,3372
$GC,5394,-0.92,-175.2,395.4,-5.8,342,5398,0.00,2.35,0.00,0.000,6,0.000,0.047,2557,2182,3372
$GC,5712,-0.92,-175.2,416.9,-7.1,350,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2180,3370
$GC,6038,-0.92,-175.2,432.8,-4.7,358,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2180,3368
$STATE,6361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6361,begin apogee
$GC,6365,-0.31,0.0,452.0,5.8,366,6509,0.68,0.00,140.73,0.890,6,0.064,0.000,2704,2180,2664
$STATE,6510,end apogee,CONTROL_FINISHED_OK
$STATE,6510,begin climb
$GC,6512,0.92,175.2,455.5,0.0,369,6664,1.17,2.55,143.80,0.860,4,0.044,0.077,2973,756,1948
$GC,6691,0.92,175.2,445.8,10.2,373,6696,0.00,2.38,0.00,0.000,6,0.000,0.062,2973,2137,1943
$GC,7039,0.95,200.3,419.0,6.2,382,7067,0.00,2.53,21.33,0.821,4,0.000,0.081,2973,3552,1846
$GC,7141,0.95,200.3,411.1,8.4,384,7145,0.00,2.35,0.00,0.000,6,0.000,0.048,2973,2164,1845
$GC,7453,0.95,200.3,383.0,9.0,392,7458,0.00,2.42,0.00,0.000,4,0.000,0.048,2973,3547,1840
$GC,7513,0.95,200.3,377.4,8.9,393,7518,0.00,2.40,0.00,0.000,6,0.000,0.037,2973,2155,1840
$GC,7862,0.98,224.8,353.6,6.2,402,7890,0.00,2.58,21.45,0.820,4,0.000,0.078,2973,741,1745
$GC,7907,0.99,232.4,350.5,6.6,403,7921,0.00,2.42,7.88,0.709,6,0.000,0.029,2973,2154,1716
$GC,8230,0.99,232.4,325.7,8.4,411,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2156,1712
$GC,8535,0.99,232.4,298.0,8.9,419,8539,0.00,2.45,0.00,0.000,4,0.000,0.052,2973,746,1711
$GC,8619,0.99,232.4,289.8,10.5,423,8623,0.00,2.38,0.00,0.000,6,0.000,0.031,2973,2164,1707
$GC,8945,0.99,232.4,264.5,7.3,439,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2167,1708
$GC,9254,0.99,232.4,236.5,10.1,454,9258,0.00,2.47,0.00,0.000,4,0.000,0.056,2973,738,1708
$GC,9342,0.99,232.4,226.6,11.0,458,9346,0.00,2.38,0.00,0.000,6,0.000,0.027,2973,2151,1706
$GC,9658,0.99,232.4,198.6,7.9,474,9662,0.00,2.45,0.00,0.000,4,0.000,0.042,2973,737,1705
$GC,9703,0.99,232.4,194.8,9.4,478,9707,0.00,2.35,0.00,0.000,6,0.000,0.035,2972,2157,1705
$GC,10027,1.04,272.3,173.5,5.8,508,10067,0.10,0.00,34.70,0.693,6,0.058,0.000,3004,2161,1552
$GC,10387,1.04,272.3,144.8,9.1,542,10391,0.00,2.45,0.00,0.000,4,0.000,0.071,3003,736,1547
$GC,10418,1.04,272.3,141.5,10.0,544,10426,0.00,2.35,0.00,0.000,6,0.000,0.023,3004,2151,1545
$GC,10744,1.04,272.3,113.2,7.8,575,10748,0.00,2.17,0.00,0.000,4,0.000,0.061,3003,856,1545
$GC,10879,1.04,272.3,102.1,9.2,587,10883,0.00,2.12,0.00,0.000,6,0.000,0.038,3003,2165,1543
$GC,11208,1.04,272.3,76.8,7.9,618,11212,0.00,2.40,0.00,0.000,4,0.000,0.036,3003,741,1543
$GC,11259,1.04,272.3,72.5,8.8,622,11263,0.00,2.30,0.00,0.000,6,0.000,0.056,3003,2155,1543
$GC,11584,1.06,286.4,49.0,6.5,652,11606,0.00,2.47,12.45,0.526,4,0.000,0.035,3004,740,1495
$GC,11633,1.08,300.4,45.7,6.5,656,11651,0.00,2.33,13.57,0.523,6,0.000,0.020,3003,2155,1439
$GC,11974,1.08,300.4,23.8,7.1,696,11981,0.00,2.38,0.00,0.000,4,0.000,0.035,3003,741,1436
$GC,12067,1.09,308.1,17.4,6.6,712,12079,0.00,2.25,7.90,0.463,6,0.000,0.019,3003,2152,1408
$STATE,12252,end climb,SURFACE_DEPTH_REACHED
$STATE,12252,begin surface coast
$FINISH,0.4,1.023212
$STATE,12292,end surface coast,CONTROL_FINISHED_OK
$STATE,12292,begin surface
$SM_CCo,12311,0.68,0.086,0,0,1400,310.06
$SM_GC,1.29,0.00,0.00,0.68,0.000,0.000,0.086,418,2155,1400,-10.82,-1.27,310.06
$IRIDIUM_FIX,2054.83,-15746.61,230797,010137
$TT8_MAMPS,0.029913
$HUMID,1819
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.60
$XPDR_PINGS,662
$24V_AH,23.6,22.906
$10V_AH,10.2,12.636
$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,25.250,87.975,403.800,0.675,0.000,23.602,36.696,193.530,165.500,0.000,0.000,31.631,1299.874,8879.297,470.356,1630.884,409.102,33.361,1254.404,0.000,1604.432,0.000,0.470
$DEVICE_MAMPS,164.138,103.545,889.720,85.904,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.316,490.479,856.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38051,752
$CAP_FILE_SIZE,95805,8
$CFSIZE,260165632,250896384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280408,083107,2105.290,-15753.321,25,1.1,25,9.8