version: 66.03
glider: 139
mission: 2
dive: 177
start: 5 2 108 14 38 28
data:
$ID,139
$MISSION,2
$DIVE,177
$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,-1255344.9
$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,44
$R_STBD_OVSHOOT,54
$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
$GPS1,142108,2106.089,-15753.570,41,1.3,41,9.8
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.6
$GPS2,143737,2106.287,-15753.698,25,1.2,25,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.073
$KALMAN_X,-200431.5,37.9,-613.2,198869.1,-1701.7
$KALMAN_Y,-75335.6,-144.4,-35.6,59078.0,34.6
$MHEAD_RNG_PITCHd_Wd,97.1,13806,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-54.58,0.000,2,0.000,0.000,421,2154,2832
$GC,78,-0.92,-175.2,3.4,-6.3,10,107,12.27,2.28,-10.57,0.000,4,0.163,0.047,2559,800,3380
$GC,148,-0.92,-175.2,17.0,-13.7,22,155,0.00,2.25,0.00,0.000,6,0.000,0.060,2559,2206,3381
$GC,486,-0.92,-175.2,51.0,-9.9,65,490,0.00,2.30,0.00,0.000,4,0.000,0.033,2559,3586,3381
$GC,525,-0.92,-175.2,54.7,-9.7,68,529,0.00,2.25,0.00,0.000,6,0.000,0.019,2559,2195,3381
$GC,850,-0.92,-175.2,83.6,-8.2,98,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2193,3381
$GC,1168,-0.92,-175.2,111.4,-9.8,128,1172,0.00,2.33,0.00,0.000,4,0.000,0.031,2559,3589,3382
$GC,1195,-0.92,-175.2,114.0,-9.4,130,1199,0.00,2.25,0.00,0.000,6,0.000,0.020,2559,2199,3382
$GC,1521,-0.92,-175.2,141.7,-7.5,160,1525,0.00,2.33,0.00,0.000,4,0.000,0.067,2559,3587,3382
$GC,1598,-0.92,-175.2,148.4,-7.3,166,1605,0.00,2.28,0.00,0.000,6,0.000,0.019,2559,2197,3382
$GC,1924,-0.92,-175.2,169.1,-5.6,197,1928,0.00,2.33,0.00,0.000,4,0.000,0.050,2559,803,3382
$GC,2008,-0.92,-175.2,174.3,-6.1,204,2012,0.00,2.25,0.00,0.000,6,0.000,0.057,2559,2196,3382
$GC,2341,-0.92,-175.2,196.0,-8.4,235,2345,0.00,2.35,0.00,0.000,4,0.000,0.040,2559,3597,3382
$GC,2412,-0.92,-175.2,202.5,-8.7,240,2416,0.00,2.30,0.00,0.000,6,0.000,0.020,2559,2197,3381
$GC,2733,-0.92,-175.2,222.6,-5.0,256,2737,0.00,2.33,0.00,0.000,4,0.000,0.035,2558,810,3381
$GC,2783,-0.92,-175.2,224.9,-4.7,258,2787,0.00,2.25,0.00,0.000,6,0.000,0.058,2559,2199,3382
$GC,3103,-0.92,-175.2,243.3,-6.5,274,3108,0.00,2.35,0.00,0.000,4,0.000,0.038,2559,3594,3381
$GC,3136,-0.92,-175.2,245.6,-7.3,275,3142,0.00,2.30,0.00,0.000,6,0.000,0.021,2559,2201,3381
$GC,3452,-0.92,-175.2,268.7,-7.7,291,3456,0.00,2.35,0.00,0.000,4,0.000,0.036,2558,801,3380
$GC,3495,-0.92,-175.2,272.2,-7.4,293,3499,0.00,2.30,0.00,0.000,6,0.000,0.023,2559,2194,3379
$GC,3822,-0.92,-175.2,291.2,-5.1,309,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2194,3378
$GC,4149,-0.92,-175.2,311.6,-6.7,321,4153,0.00,2.35,0.00,0.000,4,0.000,0.038,2558,808,3377
$GC,4193,-0.92,-175.2,315.1,-8.2,322,4197,0.00,2.30,0.00,0.000,6,0.000,0.025,2559,2189,3376
$GC,4517,-0.92,-175.2,336.6,-6.5,330,4521,0.00,2.40,0.00,0.000,4,0.000,0.042,2559,3598,3374
$GC,4572,-0.92,-175.2,340.8,-7.8,331,4576,0.00,2.33,0.00,0.000,6,0.000,0.025,2559,2205,3374
$GC,4885,-0.92,-175.2,359.7,-5.7,339,4890,0.00,2.38,0.00,0.000,4,0.000,0.040,2559,807,3372
$GC,4925,-0.92,-175.2,361.9,-5.5,340,4929,0.00,2.30,0.00,0.000,6,0.000,0.036,2559,2197,3372
$GC,5248,-0.92,-175.2,378.7,-5.0,348,5252,0.00,2.40,0.00,0.000,4,0.000,0.044,2559,3598,3370
$GC,5298,-0.92,-175.2,381.3,-5.2,349,5302,0.00,2.33,0.00,0.000,6,0.000,0.026,2559,2197,3369
$GC,5616,-0.92,-175.2,401.6,-6.6,357,5620,0.00,2.38,0.00,0.000,4,0.000,0.041,2559,803,3367
$GC,5704,-0.92,-175.2,408.3,-7.0,359,5708,0.00,2.35,0.00,0.000,6,0.000,0.028,2559,2199,3367
$GC,6029,-0.92,-175.2,429.2,-6.5,367,6033,0.00,2.40,0.00,0.000,4,0.000,0.041,2558,796,3365
$GC,6061,-0.92,-175.2,431.6,-7.5,367,6067,0.00,2.38,0.00,0.000,6,0.000,0.029,2559,2203,3365
$STATE,6350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6350,begin apogee
$GC,6355,-0.31,0.0,451.8,7.2,375,6497,0.65,0.00,139.73,0.895,6,0.058,0.000,2703,2128,2664
$STATE,6498,end apogee,CONTROL_FINISHED_OK
$STATE,6498,begin climb
$GC,6500,0.92,175.2,458.4,0.0,378,6650,1.15,0.00,143.73,0.865,6,0.111,0.000,2973,2128,1948
$GC,6988,0.92,175.2,425.6,9.0,390,6992,0.00,2.50,0.00,0.000,4,0.000,0.047,2973,3548,1939
$GC,7026,0.92,175.2,422.3,8.4,391,7031,0.00,2.35,0.00,0.000,6,0.000,0.030,2973,2161,1939
$GC,7350,0.92,175.2,395.0,8.4,399,7354,0.00,2.45,0.00,0.000,4,0.000,0.048,2973,3553,1936
$GC,7393,0.92,175.2,391.2,8.9,400,7398,0.00,2.40,0.00,0.000,6,0.000,0.063,2973,2159,1936
$GC,7717,0.92,175.2,366.1,8.0,408,7721,0.00,2.45,0.00,0.000,4,0.000,0.056,2973,3553,1934
$GC,7744,0.92,175.2,363.8,8.5,408,7748,0.00,2.40,0.00,0.000,6,0.000,0.030,2973,2150,1934
$GC,8086,0.92,175.2,336.0,7.9,417,8090,0.00,2.45,0.00,0.000,4,0.000,0.079,2973,742,1932
$GC,8141,0.92,175.2,330.8,9.8,418,8145,0.00,2.38,0.00,0.000,6,0.000,0.029,2973,2143,1930
$GC,8454,0.92,175.2,304.8,8.2,426,8458,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,745,1930
$GC,8508,0.92,175.2,299.9,9.2,427,8512,0.00,2.38,0.00,0.000,6,0.000,0.041,2972,2148,1929
$GC,8825,0.92,175.2,274.0,8.0,442,8830,0.00,2.40,0.00,0.000,4,0.000,0.044,2973,3548,1929
$GC,8903,0.92,175.2,267.5,8.0,445,8909,0.00,2.38,0.00,0.000,6,0.000,0.062,2973,2130,1929
$GC,9219,0.94,187.4,246.1,6.5,461,9232,0.00,2.42,8.07,0.682,4,0.000,0.075,2972,756,1899
$GC,9255,0.94,187.4,243.4,7.7,462,9262,0.00,2.35,0.00,0.000,6,0.000,0.027,2972,2148,1898
$GC,9571,0.94,187.4,221.8,7.0,478,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2151,1898
$GC,9881,0.95,195.3,201.0,6.6,493,9890,0.00,0.00,8.05,0.643,6,0.000,0.000,2973,2152,1868
$GC,10199,0.95,195.3,175.9,8.6,522,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2152,1867
$GC,10518,1.01,249.3,155.5,5.4,552,10572,0.00,2.50,47.53,0.676,4,0.000,0.071,2972,749,1645
$GC,10624,1.01,249.3,148.7,7.4,562,10629,0.00,2.35,0.00,0.000,6,0.000,0.032,2972,2165,1641
$GC,10949,1.06,282.7,127.7,5.9,592,10982,0.12,0.00,29.15,0.634,6,0.051,0.000,3009,2169,1510
$GC,11299,1.06,282.7,97.9,8.7,625,11303,0.00,2.42,0.00,0.000,4,0.000,0.038,3009,746,1506
$GC,11348,1.06,282.7,93.3,9.5,629,11355,0.00,2.33,0.00,0.000,6,0.000,0.057,3009,2148,1504
$GC,11674,1.06,282.7,62.4,9.1,660,11678,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,739,1503
$GC,11758,1.06,282.7,53.9,10.4,667,11761,0.00,1.60,0.00,0.000,6,0.000,0.069,3009,1781,1502
$GC,12085,1.06,282.7,28.3,7.2,699,12091,0.00,2.95,0.00,0.000,4,0.000,0.060,3009,3546,1503
$GC,12266,1.06,282.7,15.0,8.5,731,12274,0.03,2.30,0.00,0.000,6,0.166,0.021,3001,2127,1504
$STATE,12446,end climb,SURFACE_DEPTH_REACHED
$STATE,12446,begin surface coast
$FINISH,0.3,1.021730
$STATE,12481,end surface coast,CONTROL_FINISHED_OK
$STATE,12481,begin surface
$SM_CCo,12500,23.00,0.511,0,0,1399,310.06
$SM_GC,0.72,0.00,0.00,23.00,0.000,0.000,0.511,426,2122,1399,-10.78,-2.21,310.06
$IRIDIUM_FIX,2057.14,-15753.90,270797,141400
$TT8_MAMPS,0.029146
$HUMID,1825
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.80
$XPDR_PINGS,714
$24V_AH,23.6,26.755
$10V_AH,10.2,15.008
$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,25.225,122.275,376.250,23.000,0.000,113.752,198.510,353.104,178.500,0.000,0.000,27.412,1357.220,9058.619,490.094,1745.856,851.831,33.371,1339.499,0.000,1716.145,0.000,0.470
$DEVICE_MAMPS,165.672,79.001,895.089,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.502,506.523,869.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38025,769
$CAP_FILE_SIZE,109452,12
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,180826,2105.908,-15753.042,38,1.7,38,9.8