version: 66.03
glider: 139
mission: 2
dive: 162
start: 4 30 108 8 22 30
data:
$ID,139
$MISSION,2
$DIVE,162
$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,-1255087.5
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,081538,2105.950,-15750.190,29,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-57.7
$GPS2,082138,2105.970,-15750.266,14,1.2,14,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,0.048
$KALMAN_X,-178548.0,539.3,179.2,181606.8,-2782.5
$KALMAN_Y,-76485.5,386.8,164.7,58903.7,-1174.6
$MHEAD_RNG_PITCHd_Wd,69.2,8887,-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,19,-0.92,-175.2,0.0,0.0,0,70,0.00,0.00,-49.17,0.000,2,0.000,0.000,432,2187,2855
$GC,72,-0.92,-175.2,3.8,-8.1,9,101,12.07,2.40,-10.00,0.000,4,0.159,0.081,2560,3614,3382
$GC,182,-0.92,-175.2,20.7,-11.0,28,188,0.00,2.30,0.00,0.000,6,0.000,0.020,2560,2192,3383
$GC,516,-0.92,-175.2,57.4,-10.2,66,520,0.00,2.33,0.00,0.000,4,0.000,0.033,2560,802,3383
$GC,536,-0.92,-175.2,59.5,-9.7,67,543,0.00,2.33,0.00,0.000,6,0.000,0.020,2560,2223,3383
$GC,861,-0.92,-175.2,93.0,-9.9,98,865,0.00,2.30,0.00,0.000,4,0.000,0.033,2560,3598,3384
$GC,995,-0.92,-175.2,106.0,-8.9,109,1002,0.00,2.30,0.00,0.000,6,0.000,0.019,2560,2196,3385
$GC,1322,-0.92,-175.2,130.1,-6.8,140,1326,0.00,2.33,0.00,0.000,4,0.000,0.068,2560,806,3386
$GC,1354,-0.92,-175.2,132.6,-7.2,142,1361,0.00,2.28,0.00,0.000,6,0.000,0.025,2560,2200,3386
$GC,1681,-0.92,-175.2,154.2,-6.3,173,1684,0.00,1.85,0.00,0.000,4,0.000,0.057,2560,3332,3387
$GC,1726,-0.92,-175.2,157.0,-6.0,177,1729,0.00,1.83,0.00,0.000,6,0.000,0.020,2560,2198,3386
$GC,2056,-0.92,-175.2,178.6,-7.6,208,2060,0.00,2.33,0.00,0.000,4,0.000,0.034,2560,809,3387
$GC,2084,-0.92,-175.2,180.8,-8.4,210,2088,0.00,2.25,0.00,0.000,6,0.000,0.021,2560,2202,3387
$GC,2407,-0.92,-175.2,205.1,-7.4,237,2411,0.00,2.00,0.00,0.000,4,0.000,0.060,2560,3419,3387
$GC,2479,-0.92,-175.2,210.5,-7.3,240,2483,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,2202,3387
$GC,2806,-0.92,-175.2,230.6,-6.6,256,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2201,3387
$GC,3115,-0.92,-175.2,253.3,-6.7,271,3119,0.00,2.35,0.00,0.000,4,0.000,0.036,2560,804,3386
$GC,3148,-0.92,-175.2,255.5,-6.5,272,3155,0.00,2.30,0.00,0.000,6,0.000,0.023,2560,2197,3386
$GC,3463,-0.92,-175.2,270.5,-4.1,288,3467,0.00,2.38,0.00,0.000,4,0.000,0.040,2560,3597,3385
$GC,3485,-0.92,-175.2,271.5,-4.4,289,3489,0.00,2.28,0.00,0.000,6,0.000,0.023,2560,2205,3385
$GC,3812,-0.92,-175.2,286.3,-4.6,305,3816,0.00,2.38,0.00,0.000,4,0.000,0.038,2560,801,3384
$GC,3838,-0.92,-175.2,287.5,-4.6,306,3843,0.00,2.30,0.00,0.000,6,0.000,0.025,2560,2201,3383
$GC,4159,-0.92,-175.2,303.1,-5.0,321,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3382
$GC,4484,-0.92,-175.2,321.6,-5.9,329,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3381
$GC,4809,-0.92,-175.2,340.0,-5.5,337,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3379
$GC,5134,-0.92,-175.2,354.6,-4.3,345,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2203,3377
$GC,5459,-0.92,-175.2,371.5,-5.7,353,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3376
$GC,5783,-0.92,-175.2,391.3,-6.2,361,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3374
$GC,6108,-0.92,-175.2,411.3,-6.2,369,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3372
$GC,6433,-0.92,-175.2,428.3,-5.0,377,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3371
$GC,6759,-0.92,-175.2,444.0,-4.8,385,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2202,3369
$STATE,6878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6883,-0.31,0.0,450.9,5.6,388,7026,0.65,0.00,140.88,0.898,6,0.064,0.000,2702,2202,2664
$STATE,7027,end apogee,CONTROL_FINISHED_OK
$STATE,7027,begin climb
$GC,7029,0.92,175.2,456.8,0.0,391,7182,1.17,2.58,144.25,0.871,4,0.046,0.048,2969,759,1947
$GC,7209,0.92,175.2,451.8,7.3,395,7213,0.00,2.38,0.00,0.000,6,0.000,0.035,2969,2140,1941
$GC,7557,0.92,175.2,424.0,8.8,404,7561,0.00,2.47,0.00,0.000,4,0.000,0.051,2969,3547,1937
$GC,7595,0.92,175.2,420.5,9.7,405,7599,0.00,2.35,0.00,0.000,6,0.000,0.032,2969,2164,1936
$GC,7918,0.92,175.2,391.9,8.7,413,7922,0.00,2.47,0.00,0.000,4,0.000,0.078,2969,749,1934
$GC,8005,0.92,175.2,383.8,9.0,415,8010,0.00,2.38,0.00,0.000,6,0.000,0.030,2969,2144,1932
$GC,8330,0.92,175.2,358.3,7.6,423,8334,0.00,2.45,0.00,0.000,4,0.000,0.078,2969,3549,1931
$GC,8401,0.92,175.2,352.8,7.7,424,8406,0.00,2.38,0.00,0.000,6,0.000,0.029,2969,2156,1932
$GC,8738,0.92,175.2,327.9,7.4,433,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2154,1931
$GC,9062,0.92,175.2,302.8,7.7,441,9067,0.00,2.45,0.00,0.000,4,0.000,0.079,2969,743,1930
$GC,9106,0.92,175.2,298.7,9.5,442,9110,0.00,2.38,0.00,0.000,6,0.000,0.028,2969,2148,1928
$GC,9432,0.92,175.2,274.5,7.6,458,9437,0.00,2.42,0.00,0.000,4,0.000,0.044,2970,749,1928
$GC,9481,0.92,175.2,270.0,8.6,460,9486,0.00,2.38,0.00,0.000,6,0.000,0.062,2969,2150,1927
$GC,9803,0.92,175.2,242.8,9.0,476,9807,0.00,2.42,0.00,0.000,4,0.000,0.043,2969,3559,1927
$GC,9881,0.92,175.2,235.9,9.2,479,9887,0.00,2.35,0.00,0.000,6,0.000,0.038,2969,2145,1927
$GC,10196,0.95,198.6,213.8,6.2,495,10218,0.00,2.50,17.17,0.723,4,0.000,0.073,2970,748,1853
$GC,10245,0.96,201.2,210.6,6.7,497,10250,0.00,2.38,0.00,0.000,6,0.000,0.027,2969,2165,1851
$GC,10567,0.96,201.2,188.2,8.3,519,10571,0.00,2.38,0.00,0.000,4,0.000,0.074,2969,3550,1850
$GC,10622,0.96,201.2,183.7,7.5,523,10629,0.00,2.35,0.00,0.000,6,0.000,0.025,2970,2153,1850
$GC,10948,1.00,236.0,163.7,5.9,554,10990,0.00,2.47,33.35,0.685,4,0.000,0.072,2969,757,1699
$GC,11040,1.00,238.3,157.4,6.8,562,11047,0.00,2.35,0.00,0.000,6,0.000,0.024,2969,2155,1695
$GC,11366,1.03,262.8,137.1,6.2,593,11399,0.10,2.50,23.58,0.644,4,0.058,0.038,3001,749,1591
$GC,11494,1.03,262.8,126.3,9.4,604,11501,0.00,2.30,0.00,0.000,6,0.000,0.023,3001,2161,1587
$GC,11819,1.03,262.8,99.6,6.9,635,11823,0.00,2.33,0.00,0.000,4,0.000,0.066,3000,3542,1587
$GC,11859,1.06,288.3,97.1,6.2,638,11891,0.00,2.30,22.62,0.600,6,0.000,0.056,3001,2141,1488
$GC,12208,1.06,288.3,71.8,7.4,671,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2141,1485
$GC,12527,1.06,288.3,49.2,7.0,701,12531,0.00,2.33,0.00,0.000,4,0.000,0.035,3001,752,1484
$GC,12621,1.06,288.3,42.5,7.1,709,12628,0.00,2.30,0.00,0.000,6,0.000,0.020,3000,2156,1482
$GC,12954,1.06,288.3,16.6,9.4,754,12961,0.00,2.35,0.00,0.000,4,0.000,0.035,3001,756,1482
$GC,12989,1.06,288.3,13.5,8.7,760,12995,0.00,1.98,0.00,0.000,6,0.000,0.050,3001,2024,1482
$STATE,13128,end climb,SURFACE_DEPTH_REACHED
$STATE,13129,begin surface coast
$FINISH,0.2,1.018611
$STATE,13209,end surface coast,CONTROL_FINISHED_OK
$STATE,13209,begin surface
$SM_CCo,13229,18.62,0.500,0,0,1399,310.06
$SM_GC,0.77,0.00,0.00,18.62,0.000,0.000,0.500,426,2227,1399,-10.78,0.76,310.06
$IRIDIUM_FIX,2059.45,-15753.03,250797,040455
$TT8_MAMPS,0.029146
$HUMID,1812
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.40
$XPDR_PINGS,685
$24V_AH,23.6,24.783
$10V_AH,10.2,13.783
$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,25.100,111.675,381.850,18.625,0.000,22.985,34.762,184.995,171.250,0.000,0.000,16.384,1382.242,9601.047,492.696,1707.158,417.753,33.373,1331.239,0.000,1697.910,0.000,0.471
$DEVICE_MAMPS,158.769,80.535,898.157,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.875,522.827,896.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41150,799
$CAP_FILE_SIZE,104097,13
$CFSIZE,260165632,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,120431,2105.859,-15749.430,37,1.3,37,9.8