version: 66.03
glider: 139
mission: 2
dive: 149
start: 4 28 108 8 44 0
data:
$ID,139
$MISSION,2
$DIVE,149
$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,-1254842.5
$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,28
$R_STBD_OVSHOOT,55
$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
$GPS1,083107,2105.290,-15753.321,25,1.1,25,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.2
$GPS2,084308,2105.320,-15753.426,9,1.0,14,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.148,0.202
$KALMAN_X,-151782.4,-417.1,-628.0,151175.1,1015.0
$KALMAN_Y,-59385.3,-351.5,-419.1,41940.7,777.7
$MHEAD_RNG_PITCHd_Wd,313.9,8076,-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,-49.53,0.000,2,0.000,0.000,418,2155,2864
$GC,72,-0.92,-175.2,3.5,-7.2,9,101,12.35,2.38,-9.77,0.000,4,0.166,0.077,2559,3586,3381
$GC,276,-0.92,-175.2,33.6,-11.8,43,280,0.00,2.28,0.00,0.000,6,0.000,0.021,2559,2185,3383
$GC,601,-0.92,-175.2,69.6,-10.8,73,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2183,3383
$GC,918,-0.92,-175.2,103.4,-11.2,103,922,0.00,2.30,0.00,0.000,4,0.000,0.034,2559,802,3384
$GC,963,-0.92,-175.2,108.1,-10.4,107,967,0.00,2.25,0.00,0.000,6,0.000,0.019,2559,2202,3384
$GC,1290,-0.92,-175.2,135.4,-7.5,137,1294,0.00,2.35,0.00,0.000,4,0.000,0.067,2559,800,3384
$GC,1332,-0.92,-175.2,138.9,-7.1,140,1340,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2201,3384
$GC,1659,-0.92,-175.2,163.1,-9.3,171,1663,0.00,2.33,0.00,0.000,4,0.000,0.068,2559,3593,3385
$GC,1691,-0.92,-175.2,166.6,-10.2,173,1698,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2201,3384
$GC,2017,-0.92,-175.2,193.9,-6.4,204,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2200,3385
$GC,2338,-0.92,-175.2,219.4,-8.2,224,2342,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,804,3385
$GC,2376,-0.92,-175.2,222.2,-7.5,226,2380,0.00,2.25,0.00,0.000,6,0.000,0.056,2559,2199,3385
$GC,2701,-0.92,-175.2,242.3,-7.0,242,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2200,3385
$GC,3011,-0.92,-175.2,260.5,-5.4,257,3015,0.00,2.35,0.00,0.000,4,0.000,0.036,2559,802,3384
$GC,3065,-0.92,-175.2,263.5,-5.4,259,3072,0.00,2.30,0.00,0.000,6,0.000,0.023,2559,2196,3384
$GC,3382,-0.92,-175.2,281.5,-6.7,275,3386,0.00,2.35,0.00,0.000,4,0.000,0.039,2559,3591,3383
$GC,3421,-0.92,-175.2,284.5,-7.9,277,3425,0.00,2.28,0.00,0.000,6,0.000,0.058,2559,2201,3383
$GC,3745,-0.92,-175.2,305.4,-5.9,291,3749,0.00,2.35,0.00,0.000,4,0.000,0.038,2559,805,3381
$GC,3772,-0.92,-175.2,307.2,-6.7,291,3776,0.00,2.28,0.00,0.000,6,0.000,0.061,2559,2195,3381
$GC,4109,-0.92,-175.2,330.1,-7.7,300,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2196,3379
$GC,4434,-0.92,-175.2,352.7,-6.6,308,4438,0.00,2.38,0.00,0.000,4,0.000,0.042,2559,3597,3378
$GC,4494,-0.92,-175.2,357.0,-7.1,309,4499,0.00,2.30,0.00,0.000,6,0.000,0.059,2559,2202,3377
$GC,4807,-0.92,-175.2,377.2,-6.5,317,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2201,3375
$GC,5132,-0.92,-175.2,394.9,-5.6,325,5136,0.00,2.40,0.00,0.000,4,0.000,0.044,2559,3594,3374
$GC,5164,-0.92,-175.2,396.8,-5.8,325,5170,0.00,2.33,0.00,0.000,6,0.000,0.026,2559,2188,3374
$GC,5495,-0.92,-175.2,412.9,-4.7,334,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2186,3372
$GC,5820,-0.92,-175.2,433.0,-6.6,342,5824,0.00,2.35,0.00,0.000,4,0.000,0.043,2559,806,3369
$GC,5846,-0.92,-175.2,434.9,-7.0,342,5851,0.00,2.35,0.00,0.000,6,0.000,0.063,2559,2199,3370
$STATE,6106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6106,begin apogee
$GC,6110,-0.31,0.0,450.0,5.6,349,6253,0.65,0.00,140.55,0.881,6,0.062,0.000,2702,2199,2664
$STATE,6254,end apogee,CONTROL_FINISHED_OK
$STATE,6254,begin climb
$GC,6256,0.92,175.2,454.1,0.0,352,6408,1.17,2.58,143.62,0.854,4,0.044,0.056,2971,757,1948
$GC,6559,0.92,175.2,434.7,9.8,359,6563,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2150,1938
$GC,6877,0.92,175.2,408.6,7.9,367,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2151,1936
$GC,7202,0.92,175.2,382.5,8.4,375,7207,0.00,2.42,0.00,0.000,4,0.000,0.045,2971,3549,1935
$GC,7262,0.92,175.2,376.5,10.0,376,7267,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2158,1935
$GC,7611,0.92,175.2,346.5,7.7,385,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2156,1932
$GC,7935,0.92,175.2,316.2,10.2,393,7940,0.00,2.42,0.00,0.000,4,0.000,0.045,2971,3553,1932
$GC,8024,0.92,175.2,308.0,8.6,395,8028,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2152,1932
$GC,8351,0.92,176.0,286.1,6.8,408,8356,0.00,2.42,0.00,0.000,4,0.000,0.044,2971,742,1930
$GC,8428,0.92,176.0,279.3,8.9,411,8435,0.00,2.38,0.00,0.000,6,0.000,0.061,2971,2152,1929
$GC,8744,0.92,176.0,249.9,9.6,427,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2155,1928
$GC,9054,1.00,240.5,229.2,5.1,442,9116,0.00,2.53,53.28,0.746,4,0.000,0.077,2971,748,1681
$GC,9219,1.01,246.9,221.0,6.7,449,9230,0.00,2.35,5.78,0.579,6,0.000,0.026,2971,2161,1657
$GC,9539,1.01,246.9,197.1,8.4,466,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2164,1655
$GC,9857,1.01,246.9,168.5,8.0,496,9861,0.00,2.42,0.00,0.000,4,0.000,0.039,2971,746,1653
$GC,9900,1.01,246.9,165.2,7.9,499,9907,0.00,2.35,0.00,0.000,6,0.000,0.057,2971,2154,1651
$GC,10226,1.01,246.9,140.8,7.1,530,10230,0.00,2.35,0.00,0.000,4,0.000,0.072,2971,3543,1651
$GC,10246,1.01,246.9,139.0,7.9,531,10253,0.00,2.35,0.00,0.000,6,0.000,0.023,2971,2139,1651
$GC,10574,1.01,246.9,115.6,7.3,562,10578,0.00,2.35,0.00,0.000,4,0.000,0.048,2971,755,1651
$GC,10725,1.01,246.9,103.6,7.7,575,10729,0.00,2.28,0.00,0.000,6,0.000,0.026,2971,2156,1650
$GC,11049,1.07,294.5,83.8,5.6,605,11096,0.15,2.42,41.67,0.582,4,0.044,0.068,3015,748,1462
$GC,11135,1.07,294.5,75.9,10.3,612,11142,0.00,2.33,0.00,0.000,6,0.000,0.020,3015,2155,1458
$GC,11461,1.07,294.5,46.5,7.9,643,11465,0.00,2.38,0.00,0.000,4,0.000,0.048,3014,754,1457
$GC,11584,1.07,294.5,34.2,10.4,653,11590,0.00,2.25,0.00,0.000,6,0.000,0.020,3015,2161,1455
$GC,11924,1.07,295.9,6.2,6.8,710,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2165,1455
$STATE,11967,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FINISH,0.3,1.023282
$STATE,12008,end surface coast,CONTROL_FINISHED_OK
$STATE,12008,begin surface
$SM_CCo,12027,12.77,0.488,0,0,1399,310.06
$SM_GC,1.79,0.00,0.00,12.77,0.000,0.000,0.488,421,2164,1399,-10.81,-1.05,310.06
$IRIDIUM_FIX,2059.45,-15753.90,230797,080840
$TT8_MAMPS,0.029146
$HUMID,1812
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.80
$XPDR_PINGS,679
$24V_AH,23.6,23.041
$10V_AH,10.2,12.717
$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,25.450,98.700,384.900,12.775,0.000,76.096,87.406,307.318,169.750,0.000,0.000,16.032,1273.572,8742.541,473.598,1620.549,644.822,33.367,1266.497,0.000,1611.787,0.000,0.470
$DEVICE_MAMPS,165.672,76.700,881.283,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.306,474.566,822.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37969,725
$CAP_FILE_SIZE,100233,8
$CFSIZE,260165632,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,120556,2105.961,-15755.408,40,1.0,40,9.8