version: 66.03
glider: 139
mission: 2
dive: 194
start: 5 5 108 4 3 28
data:
$ID,139
$MISSION,2
$DIVE,194
$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,543.09418
$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,-1255668
$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,57
$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
$GPS1,035531,2108.068,-15753.832,38,1.7,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-57.0
$GPS2,040237,2108.116,-15753.887,33,1.2,33,9.8
$SPEED_LIMITS,0.118,0.250
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.153
$KALMAN_X,-219840.4,242.8,-978.2,218121.5,288.3
$KALMAN_Y,-79742.7,535.0,-149.8,66308.2,-578.7
$MHEAD_RNG_PITCHd_Wd,118.0,16117,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.92,-175.2,0.0,0.0,0,104,0.00,0.00,-81.88,0.000,2,0.000,0.000,421,2158,2813
$GC,106,-0.92,-175.2,3.7,-7.4,15,136,12.12,2.28,-10.80,0.000,4,0.157,0.048,2561,807,3381
$GC,226,-0.92,-175.2,22.2,-8.9,36,233,0.00,2.22,0.00,0.000,6,0.000,0.020,2561,2192,3381
$GC,561,-0.92,-175.2,57.7,-11.6,74,565,0.00,2.35,0.00,0.000,4,0.000,0.033,2561,798,3382
$GC,593,-0.92,-175.2,61.7,-11.6,76,600,0.00,2.28,0.00,0.000,6,0.000,0.019,2561,2197,3382
$GC,918,-0.92,-175.2,92.3,-9.4,107,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,3382
$GC,1237,-0.92,-175.2,121.0,-8.0,137,1240,0.00,2.33,0.00,0.000,4,0.000,0.033,2561,3589,3383
$GC,1293,-0.92,-175.2,125.7,-8.5,142,1297,0.00,2.25,0.00,0.000,6,0.000,0.020,2561,2195,3383
$GC,1618,-0.92,-175.2,154.6,-7.3,172,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2193,3382
$GC,1935,-0.92,-175.2,181.8,-7.6,202,1939,0.00,2.35,0.00,0.000,4,0.000,0.034,2561,3593,3383
$GC,2008,-0.92,-175.2,187.6,-7.9,208,2012,0.00,2.25,0.00,0.000,6,0.000,0.020,2561,2195,3383
$GC,2338,-0.92,-175.2,212.3,-7.1,231,2342,0.00,2.33,0.00,0.000,4,0.000,0.034,2561,805,3384
$GC,2392,-0.92,-175.2,216.3,-7.2,233,2397,0.00,2.28,0.00,0.000,6,0.000,0.021,2561,2194,3384
$GC,2714,-0.92,-175.2,237.2,-7.7,249,2718,0.00,2.35,0.00,0.000,4,0.000,0.036,2561,3593,3383
$GC,2740,-0.92,-175.2,239.5,-8.7,250,2745,0.00,2.28,0.00,0.000,6,0.000,0.031,2561,2211,3383
$GC,3061,-0.92,-175.2,264.1,-7.1,266,3066,0.00,2.38,0.00,0.000,4,0.000,0.036,2561,800,3383
$GC,3105,-0.92,-175.2,267.2,-7.1,268,3109,0.00,2.30,0.00,0.000,6,0.000,0.023,2561,2194,3382
$GC,3432,-0.92,-175.2,287.4,-5.8,284,3436,0.00,2.38,0.00,0.000,4,0.000,0.039,2561,3597,3380
$GC,3459,-0.92,-175.2,289.1,-6.1,285,3463,0.00,2.30,0.00,0.000,6,0.000,0.031,2561,2197,3380
$GC,3783,-0.92,-175.2,314.1,-8.6,297,3787,0.00,2.35,0.00,0.000,4,0.000,0.038,2561,805,3379
$GC,3809,-0.92,-175.2,316.5,-9.0,297,3813,0.00,2.33,0.00,0.000,6,0.000,0.059,2561,2202,3379
$GC,4146,-0.92,-175.2,342.2,-7.0,306,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2202,3377
$GC,4471,-0.92,-175.2,361.4,-5.7,314,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2202,3375
$GC,4796,-0.92,-175.2,377.0,-4.5,322,4800,0.00,2.40,0.00,0.000,4,0.000,0.044,2561,3601,3373
$GC,4828,-0.92,-175.2,378.6,-4.4,322,4834,0.00,2.33,0.00,0.000,6,0.000,0.035,2561,2199,3373
$GC,5159,-0.92,-175.2,393.1,-4.5,331,5163,0.00,2.38,0.00,0.000,4,0.000,0.041,2561,805,3371
$GC,5236,-0.92,-175.2,397.1,-5.3,332,5242,0.00,2.33,0.00,0.000,6,0.000,0.061,2561,2201,3370
$GC,5567,-0.92,-175.2,415.4,-5.7,341,5571,0.00,2.42,0.00,0.000,4,0.000,0.047,2561,3602,3369
$GC,5610,-0.92,-175.2,418.5,-7.2,342,5614,0.00,2.38,0.00,0.000,6,0.000,0.039,2561,2199,3368
$GC,5935,-0.92,-175.2,438.8,-5.9,350,5939,0.00,2.40,0.00,0.000,4,0.000,0.044,2561,802,3366
$GC,5983,-0.92,-175.2,442.0,-6.5,351,5988,0.00,2.33,0.00,0.000,6,0.000,0.029,2561,2198,3366
$STATE,6138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6138,begin apogee
$GC,6143,-0.31,0.0,452.6,7.1,355,6286,0.65,0.00,140.25,0.888,6,0.062,0.000,2703,2140,2664
$STATE,6287,end apogee,CONTROL_FINISHED_OK
$STATE,6287,begin climb
$GC,6289,0.92,175.2,459.4,0.0,358,6441,1.23,2.45,144.82,0.863,4,0.107,0.080,2976,757,1947
$GC,6458,0.92,175.2,454.9,7.4,363,6462,0.00,2.38,0.00,0.000,6,0.000,0.037,2976,2149,1942
$GC,6781,0.92,175.2,428.2,8.5,371,6785,0.00,2.47,0.00,0.000,4,0.000,0.049,2977,3551,1937
$GC,6801,0.92,175.2,426.2,9.8,371,6806,0.00,2.38,0.00,0.000,6,0.000,0.063,2977,2155,1937
$GC,7144,0.92,175.2,394.6,8.7,380,7148,0.00,2.45,0.00,0.000,4,0.000,0.046,2976,747,1934
$GC,7187,0.92,175.2,391.0,8.1,381,7191,0.00,2.38,0.00,0.000,6,0.000,0.063,2976,2154,1933
$GC,7512,0.92,175.2,367.9,7.7,389,7516,0.00,2.47,0.00,0.000,4,0.000,0.067,2976,741,1932
$GC,7555,0.92,175.2,364.0,8.8,390,7559,0.00,2.40,0.00,0.000,6,0.000,0.029,2977,2150,1930
$GC,7879,0.92,175.2,337.8,8.2,398,7883,0.00,2.42,0.00,0.000,4,0.000,0.077,2976,746,1930
$GC,7911,0.92,175.2,335.1,8.8,398,7918,0.00,2.38,0.00,0.000,6,0.000,0.063,2976,2161,1929
$GC,8242,0.92,175.2,309.5,7.0,407,8246,0.00,2.45,0.00,0.000,4,0.000,0.043,2977,746,1929
$GC,8302,0.92,175.2,304.7,8.1,408,8306,0.00,2.38,0.00,0.000,6,0.000,0.028,2977,2148,1927
$GC,8634,0.92,175.2,276.0,8.2,423,8638,0.00,2.42,0.00,0.000,4,0.000,0.044,2977,3556,1927
$GC,8665,0.92,175.2,273.2,8.6,424,8672,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2148,1927
$GC,8981,0.92,175.2,247.3,8.4,440,8985,0.00,2.40,0.00,0.000,4,0.000,0.043,2977,752,1927
$GC,9019,0.92,175.2,243.7,9.9,442,9024,0.00,2.35,0.00,0.000,6,0.000,0.028,2976,2163,1926
$GC,9345,0.92,175.2,217.0,7.7,458,9349,0.00,2.45,0.00,0.000,4,0.000,0.074,2977,745,1925
$GC,9390,0.92,175.2,213.6,8.2,460,9394,0.00,2.33,0.00,0.000,6,0.000,0.026,2976,2150,1925
$GC,9709,0.93,176.4,191.9,6.8,481,9713,0.00,2.40,0.00,0.000,4,0.000,0.040,2977,3553,1925
$GC,9917,0.94,187.3,176.6,6.5,499,9931,0.00,2.33,7.35,0.615,6,0.000,0.024,2977,2142,1900
$GC,10257,0.94,187.3,156.3,7.2,531,10260,0.00,2.35,0.00,0.000,4,0.000,0.038,2977,752,1899
$GC,10324,0.94,187.3,150.9,7.9,537,10328,0.00,2.33,0.00,0.000,6,0.000,0.024,2977,2165,1898
$GC,10655,1.00,237.6,130.8,5.5,568,10708,0.00,2.40,43.90,0.637,4,0.000,0.048,2977,3536,1694
$GC,10770,1.00,237.6,123.0,7.3,578,10776,0.00,2.28,0.00,0.000,6,0.000,0.021,2977,2143,1693
$GC,11096,1.01,242.4,100.4,6.7,609,11107,0.00,2.35,5.22,0.467,4,0.000,0.036,2977,756,1673
$GC,11168,1.01,242.4,94.5,8.1,615,11175,0.00,2.30,0.00,0.000,6,0.000,0.021,2977,2154,1671
$GC,11495,1.01,242.4,70.6,8.3,646,11499,0.00,2.38,0.00,0.000,4,0.000,0.068,2977,756,1671
$GC,11539,1.01,242.4,66.6,9.0,649,11546,0.00,2.25,0.00,0.000,6,0.000,0.020,2977,2158,1670
$GC,11865,1.10,319.8,43.4,4.8,680,11935,0.15,0.00,66.18,0.550,6,0.045,0.000,3022,2162,1360
$GC,12264,1.10,319.8,9.7,9.0,737,12270,0.00,2.38,0.00,0.000,4,0.000,0.035,3021,750,1352
$STATE,12331,end climb,SURFACE_DEPTH_REACHED
$STATE,12331,begin surface coast
$FINISH,0.7,1.023289
$STATE,12366,end surface coast,CONTROL_FINISHED_OK
$STATE,12366,begin surface
$SM_CCo,12388,177.50,0.511,0,0,449,543.09
$SM_GC,1.00,0.00,0.00,177.50,0.000,0.000,0.511,430,2209,449,-10.76,0.25,543.09
$IRIDIUM_FIX,2101.76,-15753.03,300797,000016
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,8.54143
$TCM_TEMP,22.70
$XPDR_PINGS,677
$24V_AH,23.6,29.098
$10V_AH,10.2,16.408
$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,25.350,132.000,407.725,177.500,0.000,27.079,34.767,214.595,169.250,0.000,0.000,34.635,1320.449,8786.533,718.882,1688.359,465.953,33.372,1547.335,0.000,1658.061,0.000,0.470
$DEVICE_MAMPS,157.235,96.642,888.186,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.239,494.355,857.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,755
$CAP_FILE_SIZE,105844,11
$CFSIZE,260165632,248471552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050508,073408,2107.011,-15752.987,37,1.2,37,9.8