version: 66.03
glider: 139
mission: 2
dive: 167
start: 5 1 108 2 5 32
data:
$ID,139
$MISSION,2
$DIVE,167
$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,-1255165.4
$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,47
$R_STBD_OVSHOOT,59
$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
$GPS1,015801,2102.582,-15746.444,37,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.5
$GPS2,020439,2102.654,-15746.466,10,1.9,10,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.169,0.184
$KALMAN_X,-184450.9,-19.1,-63.7,194871.8,-773.0
$KALMAN_Y,-76557.4,136.2,17.1,53233.7,276.8
$MHEAD_RNG_PITCHd_Wd,307.7,19022,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.92,-175.2,0.0,0.0,0,71,0.00,0.00,-49.80,0.000,2,0.000,0.000,429,2179,2850
$GC,73,-0.92,-175.2,3.5,-6.8,9,103,12.23,2.35,-10.25,0.000,4,0.163,0.043,2559,3588,3381
$GC,281,-0.92,-175.2,33.2,-12.4,44,288,0.00,2.28,0.00,0.000,6,0.000,0.020,2559,2205,3382
$GC,607,-0.92,-175.2,66.9,-9.8,75,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2204,3382
$GC,925,-0.92,-175.2,98.6,-11.3,105,929,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,806,3383
$GC,957,-0.92,-175.2,102.4,-11.1,107,964,0.00,2.25,0.00,0.000,6,0.000,0.019,2559,2186,3383
$GC,1284,-0.92,-175.2,131.4,-8.4,138,1288,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,801,3384
$GC,1316,-0.92,-175.2,134.4,-8.6,140,1323,0.00,2.28,0.00,0.000,6,0.000,0.020,2559,2196,3384
$GC,1642,-0.92,-175.2,161.7,-7.6,171,1646,0.00,2.33,0.00,0.000,4,0.000,0.068,2558,807,3384
$GC,1659,-0.92,-175.2,163.3,-8.8,172,1663,0.00,2.25,0.00,0.000,6,0.000,0.055,2559,2203,3384
$GC,1985,-0.92,-175.2,190.6,-8.5,202,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2205,3385
$GC,2297,-0.92,-175.2,211.6,-5.6,223,2301,0.00,2.33,0.00,0.000,4,0.000,0.036,2559,3586,3385
$GC,2325,-0.92,-175.2,213.4,-6.5,224,2329,0.00,2.25,0.00,0.000,6,0.000,0.021,2559,2196,3385
$GC,2641,-0.92,-175.2,235.3,-6.8,239,2645,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,807,3385
$GC,2684,-0.92,-175.2,238.4,-7.2,241,2689,0.00,2.28,0.00,0.000,6,0.000,0.022,2559,2192,3385
$GC,3011,-0.92,-175.2,254.1,-4.5,257,3016,0.00,2.38,0.00,0.000,4,0.000,0.038,2559,3596,3384
$GC,3044,-0.92,-175.2,255.7,-5.1,258,3051,0.00,2.30,0.00,0.000,6,0.000,0.022,2559,2176,3384
$GC,3359,-0.92,-175.2,272.5,-5.7,274,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2174,3383
$GC,3669,-0.92,-175.2,293.8,-6.4,289,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2174,3382
$GC,3975,-0.92,-175.2,313.5,-6.4,299,3979,0.00,2.42,0.00,0.000,4,0.000,0.041,2559,3591,3380
$GC,4007,-0.92,-175.2,315.7,-7.1,299,4013,0.00,2.33,0.00,0.000,6,0.000,0.059,2559,2199,3380
$GC,4338,-0.92,-175.2,335.6,-5.6,308,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2197,3379
$GC,4663,-0.92,-175.2,350.1,-4.1,316,4668,0.00,2.40,0.00,0.000,4,0.000,0.044,2559,3593,3376
$GC,4685,-0.92,-175.2,351.0,-4.5,316,4689,0.00,2.30,0.00,0.000,6,0.000,0.025,2559,2202,3376
$GC,5027,-0.92,-175.2,370.3,-6.3,325,5031,0.00,2.40,0.00,0.000,4,0.000,0.041,2559,798,3375
$GC,5053,-0.92,-175.2,372.2,-7.2,325,5057,0.00,2.35,0.00,0.000,6,0.000,0.062,2558,2190,3374
$GC,5390,-0.92,-175.2,387.2,-2.6,334,5394,0.00,2.45,0.00,0.000,4,0.000,0.046,2559,3605,3372
$GC,5434,-0.92,-175.2,389.0,-4.3,335,5438,0.00,2.33,0.00,0.000,6,0.000,0.026,2559,2202,3372
$GC,5758,-0.92,-175.2,405.9,-5.6,343,5762,0.00,2.40,0.00,0.000,4,0.000,0.043,2559,800,3370
$GC,5797,-0.92,-175.2,408.5,-7.1,344,5801,0.00,2.35,0.00,0.000,6,0.000,0.029,2559,2204,3370
$GC,6120,-0.92,-175.2,424.8,-4.1,352,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2205,3369
$GC,6445,-0.92,-175.2,444.4,-6.9,360,6449,0.00,2.42,0.00,0.000,4,0.000,0.056,2558,803,3366
$GC,6465,-0.92,-175.2,445.8,-6.9,360,6469,0.00,2.35,0.00,0.000,6,0.000,0.030,2559,2206,3366
$STATE,6562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6562,begin apogee
$GC,6567,-0.31,0.0,451.7,6.0,363,6710,0.65,0.00,140.50,0.901,6,0.064,0.000,2701,2137,2664
$STATE,6711,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6713,0.92,175.2,456.5,0.0,366,6862,1.20,0.00,144.35,0.872,6,0.044,0.000,2974,2137,1948
$GC,7159,0.92,175.2,426.7,9.6,377,7163,0.00,2.40,0.00,0.000,4,0.000,0.046,2974,766,1938
$GC,7236,0.92,175.2,419.1,9.1,378,7242,0.00,2.35,0.00,0.000,6,0.000,0.030,2974,2157,1936
$GC,7567,0.95,194.3,395.5,6.3,387,7585,0.00,0.00,15.60,0.818,6,0.000,0.000,2974,2158,1870
$GC,7894,0.95,194.3,371.2,7.9,395,7898,0.00,2.42,0.00,0.000,4,0.000,0.067,2974,3547,1866
$GC,7921,0.95,194.3,368.9,8.8,395,7925,0.00,2.38,0.00,0.000,6,0.000,0.030,2974,2161,1866
$GC,8257,0.95,194.3,339.8,8.9,404,8262,0.00,2.47,0.00,0.000,4,0.000,0.081,2974,744,1865
$GC,8284,0.95,194.3,337.4,9.7,404,8288,0.00,2.38,0.00,0.000,6,0.000,0.040,2974,2150,1862
$GC,8621,0.95,194.3,311.2,7.6,413,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2151,1862
$GC,8927,0.95,194.3,288.2,7.4,424,8932,0.00,2.45,0.00,0.000,4,0.000,0.044,2974,742,1861
$GC,8982,0.95,194.3,283.3,8.7,426,8989,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2148,1860
$GC,9298,0.97,213.8,260.6,6.3,442,9320,0.00,2.45,16.85,0.765,4,0.000,0.077,2974,3549,1791
$GC,9433,1.01,244.6,251.9,6.0,448,9468,0.00,2.35,28.15,0.765,6,0.000,0.036,2974,2146,1666
$GC,9784,1.01,244.6,226.2,8.2,465,9788,0.00,2.40,0.00,0.000,4,0.000,0.052,2974,749,1659
$GC,9941,1.01,244.6,211.1,9.4,472,9945,0.00,2.35,0.00,0.000,6,0.000,0.050,2974,2157,1655
$GC,10263,1.01,244.6,183.4,8.8,496,10267,0.00,2.42,0.00,0.000,4,0.000,0.074,2974,751,1655
$GC,10302,1.01,244.6,180.0,8.4,499,10306,0.00,2.33,0.00,0.000,6,0.000,0.028,2974,2153,1654
$GC,10626,1.01,244.6,156.7,7.1,529,10630,0.00,2.38,0.00,0.000,4,0.000,0.038,2974,3546,1654
$GC,10681,1.01,244.6,152.2,7.8,533,10688,0.00,2.33,0.00,0.000,6,0.000,0.023,2974,2140,1654
$GC,11008,1.03,263.1,130.3,6.3,564,11031,0.00,2.40,15.95,0.624,4,0.000,0.056,2974,748,1590
$GC,11181,1.03,263.1,115.8,8.3,579,11188,0.00,2.33,0.00,0.000,6,0.000,0.029,2974,2150,1586
$GC,11508,1.15,359.6,94.4,4.3,610,11596,0.17,2.42,82.78,0.607,4,0.042,0.069,3028,755,1197
$GC,11675,1.15,359.6,81.2,10.3,625,11679,0.00,2.30,0.00,0.000,6,0.000,0.021,3028,2162,1190
$GC,12000,1.15,359.6,46.3,8.8,655,12004,0.00,2.42,0.00,0.000,4,0.000,0.044,3028,748,1189
$GC,12073,1.15,359.6,38.7,9.3,661,12077,0.00,2.28,0.00,0.000,6,0.000,0.020,3028,2153,1187
$GC,12409,1.16,367.8,6.8,6.6,711,12422,0.00,2.38,7.05,0.448,4,0.000,0.041,3028,753,1163
$STATE,12449,end climb,SURFACE_DEPTH_REACHED
$STATE,12449,begin surface coast
$FINISH,0.3,1.023281
$STATE,12478,end surface coast,CONTROL_FINISHED_OK
$STATE,12478,begin surface
$SM_CCo,12560,0.00,0.000,0,0,1157,369.67
$SM_GC,1.07,11.25,0.00,0.00,0.035,0.000,0.000,428,2191,1157,-10.70,-0.25,369.67
$IRIDIUM_FIX,2054.83,-15744.48,250797,232352
$TT8_MAMPS,0.029146
$HUMID,1824
$INTERNAL_PRESSURE,8.57073
$TCM_TEMP,22.10
$XPDR_PINGS,643
$24V_AH,23.6,25.421
$10V_AH,10.2,14.173
$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,25.500,117.950,451.225,0.000,0.000,29.464,35.052,218.360,160.750,0.000,0.000,12.377,1280.344,9075.464,519.596,1604.167,472.667,33.374,1337.395,0.000,1603.029,0.000,0.471
$DEVICE_MAMPS,162.604,81.302,901.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.950,471.963,792.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,723
$CAP_FILE_SIZE,102685,9
$CFSIZE,260165632,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010508,053607,2104.212,-15747.385,40,1.3,40,9.8