version: 66.03
glider: 139
mission: 2
dive: 156
start: 4 29 108 10 32 0
data:
$ID,139
$MISSION,2
$DIVE,156
$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,-1254965.8
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,102508,2107.588,-15753.726,34,1.5,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.5
$GPS2,103108,2107.613,-15753.786,9,1.5,9,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.031
$KALMAN_X,-164001.8,-177.5,-411.4,162300.5,-1184.2
$KALMAN_Y,-69577.4,-29.6,-13.5,55639.5,-1335.5
$MHEAD_RNG_PITCHd_Wd,87.3,15377,-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,-49.25,0.000,2,0.000,0.000,430,2161,2844
$GC,72,-0.92,-175.2,3.5,-7.1,9,101,12.23,0.00,-10.30,0.000,6,0.163,0.000,2561,2161,3381
$GC,429,-0.92,-175.2,45.2,-9.5,60,433,0.00,2.40,0.00,0.000,4,0.000,0.034,2561,3591,3382
$GC,564,-0.92,-175.2,58.0,-9.3,72,568,0.00,2.28,0.00,0.000,6,0.000,0.020,2561,2189,3382
$GC,893,-0.92,-175.2,88.7,-8.5,103,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2187,3383
$GC,1212,-0.92,-175.2,118.7,-10.5,133,1216,0.00,2.35,0.00,0.000,4,0.000,0.033,2561,3587,3384
$GC,1266,-0.92,-175.2,124.7,-10.6,137,1273,0.00,2.28,0.00,0.000,6,0.000,0.020,2561,2198,3384
$GC,1592,-0.92,-175.2,153.8,-8.6,168,1596,0.00,2.33,0.00,0.000,4,0.000,0.034,2561,804,3385
$GC,1635,-0.92,-175.2,157.3,-7.4,171,1642,0.00,2.28,0.00,0.000,6,0.000,0.020,2561,2198,3385
$GC,1961,-0.92,-175.2,182.8,-8.2,202,1965,0.00,2.33,0.00,0.000,4,0.000,0.033,2561,808,3386
$GC,1993,-0.92,-175.2,185.6,-8.4,204,2000,0.00,2.28,0.00,0.000,6,0.000,0.021,2561,2202,3386
$GC,2317,-0.92,-175.2,203.8,-4.6,231,2321,0.00,2.33,0.00,0.000,4,0.000,0.069,2561,3591,3386
$GC,2362,-0.92,-175.2,206.2,-5.5,233,2366,0.00,2.25,0.00,0.000,6,0.000,0.021,2561,2199,3386
$GC,2688,-0.92,-175.2,228.2,-8.0,249,2693,0.00,2.33,0.00,0.000,4,0.000,0.035,2561,810,3386
$GC,2720,-0.92,-175.2,231.1,-8.9,250,2728,0.00,2.28,0.00,0.000,6,0.000,0.021,2561,2194,3386
$GC,3036,-0.92,-175.2,259.5,-8.8,266,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2195,3385
$GC,3346,-0.92,-175.2,280.8,-5.5,281,3350,0.00,2.38,0.00,0.000,4,0.000,0.074,2561,3597,3384
$GC,3390,-0.92,-175.2,283.5,-5.6,283,3394,0.00,2.30,0.00,0.000,6,0.000,0.023,2561,2209,3384
$GC,3717,-0.92,-175.2,299.8,-5.4,299,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2207,3383
$GC,4021,-0.92,-175.2,321.1,-7.4,307,4025,0.00,2.38,0.00,0.000,4,0.000,0.038,2561,802,3382
$GC,4065,-0.92,-175.2,324.4,-7.7,308,4069,0.00,2.33,0.00,0.000,6,0.000,0.025,2561,2198,3381
$GC,4389,-0.92,-175.2,346.0,-6.1,316,4393,0.00,2.38,0.00,0.000,4,0.000,0.041,2561,3594,3380
$GC,4432,-0.92,-175.2,348.5,-5.9,317,4436,0.00,2.30,0.00,0.000,6,0.000,0.029,2561,2196,3380
$GC,4756,-0.92,-175.2,364.1,-5.0,325,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2194,3379
$GC,5081,-0.92,-175.2,382.8,-5.7,333,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2194,3377
$GC,5406,-0.92,-175.2,395.0,-3.2,341,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2194,3375
$GC,5731,-0.92,-175.2,410.4,-5.0,349,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2194,3374
$GC,6056,-0.92,-175.2,427.4,-4.9,357,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2194,3372
$GC,6381,-0.92,-175.2,443.4,-5.4,365,6385,0.00,2.38,0.00,0.000,4,0.000,0.043,2561,807,3369
$GC,6407,-0.92,-175.2,445.3,-7.1,365,6411,0.00,2.33,0.00,0.000,6,0.000,0.030,2561,2186,3370
$STATE,6498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6498,begin apogee
$GC,6503,-0.31,0.0,451.2,6.5,368,6646,0.65,0.00,141.02,0.890,6,0.062,0.000,2703,2186,2664
$STATE,6647,end apogee,CONTROL_FINISHED_OK
$STATE,6647,begin climb
$GC,6649,0.92,175.2,456.7,0.0,371,6801,1.17,2.55,144.25,0.861,4,0.045,0.045,2970,753,1947
$GC,6855,0.92,175.2,448.9,8.2,376,6860,0.00,2.38,0.00,0.000,6,0.000,0.029,2970,2143,1940
$GC,7180,0.92,175.2,422.9,8.8,384,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2145,1937
$GC,7505,0.92,175.2,390.5,9.8,392,7509,0.00,2.42,0.00,0.000,4,0.000,0.078,2970,757,1935
$GC,7537,0.92,175.2,387.4,9.4,392,7543,0.00,2.38,0.00,0.000,6,0.000,0.029,2970,2153,1933
$GC,7868,0.98,217.4,365.6,5.7,401,7910,0.00,2.47,35.12,0.834,4,0.000,0.058,2970,759,1775
$GC,7942,0.98,217.4,360.6,7.7,402,7947,0.00,2.38,0.00,0.000,6,0.000,0.030,2970,2146,1770
$GC,8279,0.98,217.4,330.8,9.9,411,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2146,1768
$GC,8585,0.98,217.4,297.1,11.1,419,8589,0.00,2.42,0.00,0.000,4,0.000,0.077,2971,752,1766
$GC,8623,0.98,217.4,292.9,10.6,421,8628,0.00,2.35,0.00,0.000,6,0.000,0.062,2970,2155,1764
$GC,8950,1.00,237.7,268.1,6.3,437,8969,0.00,0.00,16.98,0.756,6,0.000,0.000,2970,2158,1695
$GC,9279,1.00,237.7,244.6,7.6,453,9283,0.00,2.40,0.00,0.000,4,0.000,0.077,2970,756,1690
$GC,9327,1.00,237.7,240.5,8.2,455,9332,0.00,2.35,0.00,0.000,6,0.000,0.061,2970,2151,1688
$GC,9649,1.00,237.7,213.1,8.5,471,9653,0.00,2.40,0.00,0.000,4,0.000,0.041,2970,756,1689
$GC,9703,1.00,237.7,208.7,8.2,473,9710,0.00,2.35,0.00,0.000,6,0.000,0.060,2970,2154,1687
$GC,10024,1.06,283.5,189.9,5.6,497,10070,0.12,2.47,40.30,0.704,4,0.053,0.041,3006,752,1507
$GC,10131,1.06,283.5,180.7,9.4,506,10138,0.00,2.35,0.00,0.000,6,0.000,0.031,3006,2148,1502
$GC,10457,1.06,283.5,147.0,10.2,537,10461,0.00,2.40,0.00,0.000,4,0.000,0.072,3005,755,1500
$GC,10545,1.06,283.5,138.7,9.0,544,10552,0.00,2.33,0.00,0.000,6,0.000,0.023,3005,2153,1498
$GC,10872,1.06,283.5,112.0,8.8,575,10876,0.00,2.40,0.00,0.000,4,0.000,0.058,3005,752,1498
$GC,10934,1.06,283.5,105.8,9.9,580,10938,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2162,1497
$GC,11259,1.06,283.5,78.6,8.5,610,11263,0.00,1.98,0.00,0.000,4,0.000,0.062,3006,974,1498
$GC,11293,1.06,283.5,75.3,9.6,613,11296,0.00,1.90,0.00,0.000,6,0.000,0.062,3005,2156,1497
$GC,11623,1.06,283.5,46.7,8.0,644,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2161,1498
$GC,11945,1.09,314.3,24.9,6.0,681,11978,0.00,0.00,26.98,0.532,6,0.000,0.000,3006,2161,1381
$STATE,12247,end climb,SURFACE_DEPTH_REACHED
$STATE,12247,begin surface coast
$FINISH,0.3,1.023243
$STATE,12292,end surface coast,CONTROL_FINISHED_OK
$STATE,12292,begin surface
$SM_CCo,12371,0.00,0.000,0,0,1374,316.19
$SM_GC,1.13,11.25,0.00,0.00,0.040,0.000,0.000,429,2161,1374,-10.69,-1.10,316.19
$IRIDIUM_FIX,2101.76,-15753.03,240797,070728
$TT8_MAMPS,0.028379
$HUMID,1808
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.80
$XPDR_PINGS,651
$24V_AH,23.6,23.991
$10V_AH,10.2,13.294
$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,25.425,93.400,404.650,0.000,0.000,25.942,31.344,190.959,162.750,0.000,0.000,11.039,1277.529,8981.161,482.939,1569.957,410.925,33.383,1250.697,0.000,1566.734,0.000,0.470
$DEVICE_MAMPS,162.604,78.234,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.634,483.184,837.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38003,743
$CAP_FILE_SIZE,94585,8
$CFSIZE,260165632,250482688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,135907,2106.552,-15753.258,21,1.3,21,9.8