version: 66.03
glider: 139
mission: 2
dive: 190
start: 5 4 108 13 5 37
data:
$ID,139
$MISSION,2
$DIVE,190
$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,-1255572.4
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,125856,2105.699,-15750.362,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.8
$GPS2,130445,2105.728,-15750.418,11,1.3,11,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.216
$KALMAN_X,-216683.6,-2.3,-310.5,220522.0,-1091.4
$KALMAN_Y,-76830.4,-677.4,-226.0,60267.4,-186.7
$MHEAD_RNG_PITCHd_Wd,319.8,10145,-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,17,begin dive
$GC,19,-0.92,-175.2,0.0,0.0,0,70,0.00,0.00,-49.00,0.000,2,0.000,0.000,429,2157,2845
$GC,72,-0.92,-175.2,3.8,-7.2,9,102,12.15,1.80,-10.10,0.000,4,0.161,0.072,2559,3269,3381
$GC,303,-0.92,-175.2,37.2,-10.0,44,310,0.00,1.77,0.00,0.000,6,0.000,0.020,2558,2190,3382
$GC,628,-0.92,-175.2,75.4,-9.7,75,632,0.00,2.33,0.00,0.000,4,0.000,0.033,2559,797,3383
$GC,662,-0.92,-175.2,78.3,-8.6,78,666,0.00,2.25,0.00,0.000,6,0.000,0.019,2559,2199,3382
$GC,986,-0.92,-175.2,107.0,-10.9,108,990,0.00,2.35,0.00,0.000,4,0.000,0.033,2559,803,3384
$GC,1006,-0.92,-175.2,109.3,-9.9,109,1013,0.00,2.28,0.00,0.000,6,0.000,0.055,2559,2194,3384
$GC,1333,-0.92,-175.2,140.8,-9.5,140,1337,0.00,2.33,0.00,0.000,4,0.000,0.067,2559,807,3384
$GC,1361,-0.92,-175.2,143.5,-9.2,142,1365,0.00,2.25,0.00,0.000,6,0.000,0.019,2559,2202,3384
$GC,1686,-0.92,-175.2,168.0,-6.9,172,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2205,3385
$GC,2003,-0.92,-175.2,194.0,-9.2,202,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2205,3385
$GC,2325,-0.92,-175.2,216.1,-5.2,221,2330,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,3588,3386
$GC,2397,-0.92,-175.2,219.6,-4.4,224,2402,0.00,2.25,0.00,0.000,6,0.000,0.045,2558,2197,3386
$GC,2718,-0.92,-175.2,238.2,-7.4,240,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2195,3386
$GC,3028,-0.92,-175.2,260.6,-6.8,255,3032,0.00,2.33,0.00,0.000,4,0.000,0.035,2559,807,3386
$GC,3076,-0.92,-175.2,264.1,-7.3,257,3081,0.00,2.28,0.00,0.000,6,0.000,0.023,2559,2189,3385
$GC,3398,-0.92,-175.2,283.4,-5.4,273,3403,0.00,2.35,0.00,0.000,4,0.000,0.048,2559,3590,3384
$GC,3487,-0.92,-175.2,288.6,-6.2,277,3492,0.00,2.28,0.00,0.000,6,0.000,0.058,2559,2200,3384
$GC,3813,-0.92,-175.2,304.7,-5.0,291,3817,0.00,2.35,0.00,0.000,4,0.000,0.038,2559,803,3382
$GC,3851,-0.92,-175.2,306.7,-5.3,292,3856,0.00,2.30,0.00,0.000,6,0.000,0.025,2559,2204,3383
$GC,4175,-0.92,-175.2,318.2,-2.9,300,4179,0.00,2.38,0.00,0.000,4,0.000,0.042,2559,3598,3381
$GC,4218,-0.92,-175.2,319.9,-4.3,301,4222,0.00,2.30,0.00,0.000,6,0.000,0.025,2559,2199,3381
$GC,4543,-0.92,-175.2,337.4,-6.0,309,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2197,3379
$GC,4867,-0.92,-175.2,355.7,-5.1,317,4871,0.00,2.40,0.00,0.000,4,0.000,0.043,2559,3594,3377
$GC,4906,-0.92,-175.2,357.7,-5.8,318,4911,0.00,2.33,0.00,0.000,6,0.000,0.030,2558,2192,3377
$GC,5230,-0.92,-175.2,373.9,-5.1,326,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2191,3376
$GC,5555,-0.92,-175.2,391.2,-5.3,334,5559,0.00,2.35,0.00,0.000,4,0.000,0.041,2558,807,3374
$GC,5581,-0.92,-175.2,392.9,-6.0,334,5586,0.00,2.33,0.00,0.000,6,0.000,0.028,2559,2203,3374
$GC,5924,-0.92,-175.2,412.6,-5.7,343,5928,0.00,2.42,0.00,0.000,4,0.000,0.048,2559,3606,3372
$GC,5950,-0.92,-175.2,414.3,-6.5,343,5955,0.00,2.35,0.00,0.000,6,0.000,0.027,2559,2195,3371
$GC,6287,-0.92,-175.2,434.5,-5.6,352,6291,0.00,2.40,0.00,0.000,4,0.000,0.077,2558,801,3369
$GC,6319,-0.92,-175.2,436.3,-5.6,352,6325,0.00,2.35,0.00,0.000,6,0.000,0.038,2559,2206,3369
$STATE,6607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6608,begin apogee
$GC,6613,-0.31,0.0,450.8,5.3,360,6757,0.65,0.00,141.18,0.888,6,0.061,0.000,2702,2137,2664
$STATE,6758,end apogee,CONTROL_FINISHED_OK
$STATE,6758,begin climb
$GC,6760,0.92,175.2,454.8,0.0,363,6913,1.20,2.45,144.15,0.860,4,0.107,0.048,2977,766,1947
$GC,6962,0.92,175.2,443.9,9.9,368,6967,0.00,2.38,0.00,0.000,6,0.000,0.037,2977,2144,1941
$GC,7299,0.92,175.2,411.0,10.1,377,7303,0.00,2.47,0.00,0.000,4,0.000,0.082,2977,3546,1937
$GC,7359,0.92,175.2,405.2,9.8,378,7363,0.00,2.38,0.00,0.000,6,0.000,0.030,2976,2166,1937
$GC,7707,0.92,175.2,372.6,9.6,387,7711,0.00,2.45,0.00,0.000,4,0.000,0.057,2976,748,1934
$GC,7806,0.92,175.2,362.8,10.0,389,7811,0.00,2.40,0.00,0.000,6,0.000,0.058,2977,2148,1932
$GC,8125,0.92,175.2,336.0,8.3,397,8129,0.00,2.45,0.00,0.000,4,0.000,0.046,2977,3554,1932
$GC,8275,0.92,175.2,321.8,9.0,400,8279,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,2142,1932
$GC,8603,0.92,175.2,292.7,9.2,410,8607,0.00,2.45,0.00,0.000,4,0.000,0.044,2977,3549,1931
$GC,8665,0.92,175.2,287.0,9.2,413,8669,0.00,2.35,0.00,0.000,6,0.000,0.028,2977,2150,1931
$GC,8991,0.92,175.2,264.7,7.5,429,8995,0.00,2.42,0.00,0.000,4,0.000,0.045,2977,749,1929
$GC,9107,0.92,175.2,255.6,7.4,434,9111,0.00,2.38,0.00,0.000,6,0.000,0.061,2977,2155,1928
$GC,9428,0.92,175.2,231.0,6.9,450,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2157,1928
$GC,9737,0.92,175.2,207.6,7.9,465,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2158,1928
$GC,10054,0.98,224.0,187.3,5.5,489,10095,0.00,0.00,39.35,0.709,6,0.000,0.000,2977,2158,1750
$GC,10411,0.98,224.0,159.7,8.5,523,10415,0.00,2.42,0.00,0.000,4,0.000,0.040,2977,746,1743
$GC,10454,0.98,224.0,156.0,8.1,526,10461,0.00,2.35,0.00,0.000,6,0.000,0.024,2977,2154,1741
$GC,10780,1.03,262.0,135.6,5.8,557,10823,0.00,2.53,32.83,0.642,4,0.000,0.068,2977,740,1593
$GC,10930,1.03,264.5,125.9,6.8,570,10936,0.00,2.30,0.00,0.000,6,0.000,0.022,2977,2155,1589
$GC,11257,1.04,272.1,103.8,6.6,601,11271,0.00,2.45,9.38,0.548,4,0.000,0.042,2977,741,1553
$GC,11369,1.04,272.1,95.0,7.6,611,11373,0.00,2.30,0.00,0.000,6,0.000,0.023,2977,2154,1550
$GC,11694,1.04,272.1,72.1,6.8,641,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2158,1550
$GC,12011,1.04,272.1,49.7,7.4,671,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2158,1550
$GC,12330,1.22,419.0,29.8,3.0,701,12463,0.08,2.47,122.18,0.532,4,0.997,0.067,3021,750,953
$GC,12549,1.22,419.0,7.4,10.7,740,12556,0.00,2.28,0.00,0.000,6,0.000,0.021,3021,2162,948
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FINISH,0.3,1.023399
$STATE,12640,end surface coast,CONTROL_FINISHED_OK
$STATE,12640,begin surface
$SM_CCo,12720,0.00,0.000,0,0,945,421.43
$SM_GC,1.08,11.18,0.00,0.00,0.036,0.000,0.000,421,2165,945,-10.70,-1.02,421.43
$IRIDIUM_FIX,2054.83,-15748.75,290797,090935
$TT8_MAMPS,0.029146
$HUMID,1803
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,22.50
$XPDR_PINGS,688
$24V_AH,23.6,28.423
$10V_AH,10.2,16.070
$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,25.250,107.525,489.050,0.000,0.000,22.256,28.752,178.745,172.000,0.000,0.000,13.049,1299.479,9127.840,528.597,1698.333,403.894,33.368,1381.687,0.000,1687.589,0.000,0.470
$DEVICE_MAMPS,997.100,82.069,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.049,489.965,845.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,756
$CAP_FILE_SIZE,101722,11
$CFSIZE,260165632,248680448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,163838,2106.932,-15752.383,26,1.3,26,9.8