version: 66.03
glider: 139
mission: 2
dive: 155
start: 4 29 108 6 55 49
data:
$ID,139
$MISSION,2
$DIVE,155
$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,-1254954.1
$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,42
$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
$GPS1,063738,2108.250,-15754.096,33,1.3,33,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.4
$GPS2,065457,2108.118,-15754.360,12,1.7,12,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,0.033
$KALMAN_X,-162225.4,-3.9,-67.9,159025.7,-2152.3
$KALMAN_Y,-68275.1,-97.7,116.5,55209.6,-1374.7
$MHEAD_RNG_PITCHd_Wd,72.7,16738,-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,-49.60,0.000,2,0.000,0.000,425,2161,2871
$GC,72,-0.92,-175.2,3.3,-6.1,9,102,12.18,2.38,-9.77,0.000,4,0.161,0.060,2560,3584,3382
$GC,125,-0.92,-175.2,15.2,-18.7,18,131,0.00,2.25,0.00,0.000,6,0.000,0.021,2559,2194,3382
$GC,457,-0.92,-175.2,50.7,-9.5,61,461,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,797,3382
$GC,477,-0.92,-175.2,52.9,-10.4,62,484,0.00,2.28,0.00,0.000,6,0.000,0.019,2560,2194,3383
$GC,802,-0.92,-175.2,86.8,-10.9,93,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2197,3383
$GC,1121,-0.92,-175.2,117.5,-8.6,123,1125,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,3590,3383
$GC,1147,-0.92,-175.2,120.0,-9.0,125,1155,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2197,3383
$GC,1473,-0.92,-175.2,147.7,-7.8,156,1477,0.00,2.33,0.00,0.000,4,0.000,0.038,2559,806,3384
$GC,1528,-0.92,-175.2,152.3,-8.3,160,1535,0.00,2.28,0.00,0.000,6,0.000,0.020,2560,2202,3383
$GC,1854,-0.92,-175.2,176.1,-7.6,191,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2204,3384
$GC,2172,-0.92,-175.2,195.2,-4.6,221,2176,0.00,2.35,0.00,0.000,4,0.000,0.034,2560,803,3384
$GC,2204,-0.92,-175.2,196.6,-3.9,223,2210,0.00,2.28,0.00,0.000,6,0.000,0.021,2560,2192,3384
$GC,2522,-0.92,-175.2,211.3,-5.4,243,2526,0.00,2.35,0.00,0.000,4,0.000,0.036,2560,3591,3384
$GC,2562,-0.92,-175.2,213.6,-6.4,245,2566,0.00,2.28,0.00,0.000,6,0.000,0.057,2560,2194,3384
$GC,2888,-0.92,-175.2,235.1,-6.9,261,2892,0.00,2.38,0.00,0.000,4,0.000,0.038,2560,3594,3383
$GC,2942,-0.92,-175.2,239.2,-7.7,263,2946,0.00,2.30,0.00,0.000,6,0.000,0.051,2559,2203,3383
$GC,3264,-0.92,-175.2,262.2,-7.2,279,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3381
$GC,3573,-0.92,-175.2,281.7,-5.3,294,3577,0.00,2.35,0.00,0.000,4,0.000,0.037,2560,810,3380
$GC,3605,-0.92,-175.2,283.5,-5.3,295,3611,0.00,2.30,0.00,0.000,6,0.000,0.051,2560,2196,3380
$GC,3921,-0.92,-175.2,296.1,-3.6,311,3925,0.00,2.38,0.00,0.000,4,0.000,0.041,2560,3593,3379
$GC,3964,-0.92,-175.2,297.8,-4.0,313,3969,0.00,2.28,0.00,0.000,6,0.000,0.024,2560,2204,3379
$GC,4287,-0.92,-175.2,313.4,-5.7,323,4291,0.00,2.38,0.00,0.000,4,0.000,0.038,2559,799,3377
$GC,4308,-0.92,-175.2,315.0,-7.3,323,4313,0.00,2.33,0.00,0.000,6,0.000,0.026,2560,2188,3377
$GC,4651,-0.92,-175.2,342.9,-8.5,332,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2189,3375
$GC,4976,-0.92,-175.2,365.1,-6.0,340,4980,0.00,2.38,0.00,0.000,4,0.000,0.040,2559,800,3373
$GC,5002,-0.92,-175.2,366.7,-5.9,340,5007,0.00,2.35,0.00,0.000,6,0.000,0.028,2560,2197,3373
$GC,5338,-0.92,-175.2,387.1,-6.2,349,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2198,3371
$GC,5663,-0.92,-175.2,405.9,-5.6,357,5668,0.00,2.38,0.00,0.000,4,0.000,0.041,2559,808,3369
$GC,5703,-0.92,-175.2,408.1,-6.2,358,5707,0.00,2.33,0.00,0.000,6,0.000,0.063,2560,2202,3369
$GC,6026,-0.92,-175.2,422.9,-4.4,366,6030,0.00,2.40,0.00,0.000,4,0.000,0.041,2559,802,3367
$GC,6058,-0.92,-175.2,425.3,-7.8,366,6065,0.00,2.35,0.00,0.000,6,0.000,0.037,2560,2194,3367
$STATE,6388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6388,begin apogee
$GC,6393,-0.31,0.0,450.4,6.9,375,6535,0.65,0.00,140.05,0.891,6,0.065,0.000,2701,2194,2664
$STATE,6536,end apogee,CONTROL_FINISHED_OK
$STATE,6536,begin climb
$GC,6538,0.92,175.2,455.8,0.0,378,6690,1.20,2.58,143.55,0.863,4,0.047,0.051,2973,754,1947
$GC,6752,0.92,175.2,442.5,12.0,383,6756,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2150,1940
$GC,7064,0.92,175.2,416.5,8.2,391,7068,0.00,2.45,0.00,0.000,4,0.000,0.045,2973,3554,1937
$GC,7104,0.92,175.2,412.6,10.0,392,7109,0.00,2.38,0.00,0.000,6,0.000,0.061,2973,2155,1937
$GC,7428,0.92,175.4,387.7,6.8,400,7432,0.00,2.45,0.00,0.000,4,0.000,0.058,2973,749,1935
$GC,7549,0.92,175.4,379.8,7.6,402,7556,0.00,2.38,0.00,0.000,6,0.000,0.029,2973,2147,1932
$GC,7881,0.92,175.4,353.5,8.5,411,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2148,1933
$GC,8206,0.92,175.4,323.5,9.5,419,8210,0.00,2.42,0.00,0.000,4,0.000,0.049,2973,3547,1931
$GC,8271,0.92,175.4,317.6,8.8,420,8276,0.00,2.38,0.00,0.000,6,0.000,0.064,2973,2153,1931
$GC,8595,0.95,195.9,295.5,6.3,430,8617,0.00,2.45,15.80,0.776,4,0.000,0.059,2973,3548,1864
$GC,8639,0.97,212.5,292.8,6.4,432,8661,0.00,2.38,15.88,0.762,6,0.000,0.061,2972,2144,1797
$GC,8969,0.99,229.1,273.0,6.4,448,8991,0.00,2.45,15.25,0.748,4,0.000,0.051,2973,745,1728
$GC,9029,0.99,229.1,268.3,8.3,450,9036,0.00,2.40,0.00,0.000,6,0.000,0.061,2973,2153,1725
$GC,9344,0.99,229.1,241.7,8.6,466,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2157,1724
$GC,9654,0.99,229.1,216.6,8.4,481,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2157,1723
$GC,9967,1.02,252.8,195.0,6.2,499,9989,0.00,0.00,21.02,0.700,6,0.000,0.000,2973,2157,1633
$GC,10303,1.02,252.8,171.3,7.9,531,10307,0.00,2.42,0.00,0.000,4,0.000,0.041,2973,746,1629
$GC,10386,1.02,252.8,164.8,8.0,538,10390,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2156,1627
$GC,10710,1.02,252.8,140.8,7.8,568,10714,0.00,2.40,0.00,0.000,4,0.000,0.038,2973,748,1627
$GC,10794,1.02,252.8,133.9,8.3,575,10798,0.00,2.30,0.00,0.000,6,0.000,0.022,2973,2155,1626
$GC,11119,1.02,252.8,107.8,6.9,605,11123,0.00,2.40,0.00,0.000,4,0.000,0.050,2973,747,1626
$GC,11169,1.02,252.8,104.1,7.3,609,11173,0.00,2.28,0.00,0.000,6,0.000,0.021,2973,2153,1626
$GC,11499,1.07,290.1,85.0,5.8,640,11539,0.12,0.00,33.15,0.588,6,0.048,0.000,3012,2157,1479
$GC,11857,1.07,290.1,52.1,10.1,674,11861,0.00,2.38,0.00,0.000,4,0.000,0.036,3011,747,1476
$GC,11902,1.07,290.1,47.3,10.6,678,11906,0.00,2.28,0.00,0.000,6,0.000,0.020,3012,2157,1474
$GC,12234,1.07,290.1,17.7,7.8,720,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2162,1475
$STATE,12418,end climb,SURFACE_DEPTH_REACHED
$STATE,12418,begin surface coast
$FINISH,0.3,1.023331
$STATE,12452,end surface coast,CONTROL_FINISHED_OK
$STATE,12453,begin surface
$SM_CCo,12471,16.92,0.502,0,0,1400,310.06
$SM_GC,1.23,0.00,0.00,16.92,0.000,0.000,0.502,430,2160,1400,-10.76,-1.13,310.06
$IRIDIUM_FIX,2059.45,-15753.03,240797,060621
$TT8_MAMPS,0.029146
$HUMID,1829
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.80
$XPDR_PINGS,685
$24V_AH,23.6,23.863
$10V_AH,10.2,13.216
$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,25.175,108.350,384.700,16.925,0.000,113.832,188.731,426.483,171.250,0.000,0.000,14.078,1319.783,9167.736,492.906,1627.440,911.183,33.374,1292.368,0.000,1618.233,0.000,0.470
$DEVICE_MAMPS,161.070,63.661,891.254,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.843,500.777,847.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,759
$CAP_FILE_SIZE,105122,9
$CFSIZE,260165632,250527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,102508,2107.588,-15753.726,34,1.5,34,9.8