version: 66.03
glider: 146
mission: 2
dive: 56
start: 6 6 108 2 5 16
data:
$ID,146
$MISSION,2
$DIVE,56
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$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,120
$T_MISSION,200
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52573
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5607.5234
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2775
$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,-29.09374
$PRESSURE_SLOPE,0.000115925
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,015229,2238.102,-15723.543,8,99.0,27,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.9
$GPS2,020455,2238.208,-15723.629,41,1.1,41,10.1
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP15
$TGT_LATLONG,2238.400,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,289.2,727,-32.9,-13.333
$D_GRID,480
$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,18,-2.14,-68.4,0.0,0.0,0,88,0.00,0.00,-67.90,0.000,2,0.000,0.000,472,1815,2730
$GC,90,-2.21,-125.8,3.0,-5.9,9,122,11.43,2.47,-12.95,0.000,4,0.152,0.090,2671,391,3290
$GC,310,-2.21,-125.8,65.5,-27.4,37,314,0.00,2.25,0.00,0.000,6,0.000,0.041,2671,1788,3292
$GC,508,-2.21,-125.8,118.9,-24.5,55,513,0.00,2.22,0.00,0.000,4,0.000,0.037,2671,3208,3293
$GC,578,-2.21,-125.8,135.8,-23.0,61,587,0.00,2.28,0.00,0.000,6,0.000,0.031,2671,1800,3293
$GC,775,-2.21,-125.8,178.4,-22.4,80,779,0.00,2.22,0.00,0.000,4,0.000,0.031,2671,3208,3294
$GC,951,-2.21,-125.8,212.6,-19.0,93,956,0.00,2.28,0.00,0.000,6,0.000,0.036,2671,1800,3295
$GC,1156,-2.21,-125.8,255.7,-21.3,103,1160,0.00,2.22,0.00,0.000,4,0.000,0.040,2672,3197,3296
$GC,1187,-2.21,-125.8,262.7,-19.3,104,1197,0.00,2.30,0.00,0.000,6,0.000,0.041,2671,1806,3296
$GC,1379,-2.21,-125.8,298.1,-18.0,114,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1804,3296
$GC,1563,-2.21,-125.8,330.6,-17.7,119,1567,0.00,2.28,0.00,0.000,4,0.000,0.047,2671,3193,3297
$GC,1605,-2.21,-125.8,338.6,-17.8,120,1610,0.00,2.38,0.00,0.000,6,0.000,0.057,2671,1804,3297
$GC,1809,-2.21,-125.8,372.6,-16.7,125,1812,0.00,2.30,0.00,0.000,4,0.000,0.053,2671,3191,3297
$GC,1891,-2.21,-125.8,386.7,-17.0,126,1898,0.00,2.40,0.00,0.000,6,0.000,0.058,2671,1800,3297
$GC,2101,-2.21,-125.8,424.1,-18.1,132,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1799,3296
$GC,2305,-2.21,-125.8,459.8,-17.5,137,2310,0.00,2.38,0.00,0.000,4,0.000,0.065,2671,3187,3294
$GC,2359,-2.21,-125.8,469.7,-17.4,138,2365,0.00,2.40,0.00,0.000,6,0.000,0.067,2671,1801,3295
$STATE,2432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2432,begin apogee
$GC,2436,-0.31,0.0,482.4,17.4,140,2547,1.98,0.00,106.15,0.874,6,0.104,0.000,3091,1800,2775
$STATE,2548,end apogee,CONTROL_FINISHED_OK
$STATE,2548,begin climb
$GC,2549,2.21,125.8,486.1,0.0,142,2664,2.30,2.78,104.50,0.854,4,0.042,0.127,3648,438,2261
$GC,2669,2.21,125.8,480.0,13.3,145,2676,0.00,2.45,0.00,0.000,6,0.000,0.066,3648,1832,2260
$GC,2878,2.21,125.8,446.4,16.2,151,2882,0.00,2.50,0.00,0.000,4,0.000,0.077,3648,3268,2256
$GC,2948,2.21,125.8,434.1,17.0,152,2954,0.00,2.42,0.00,0.000,6,0.000,0.054,3648,1853,2255
$GC,3163,2.21,125.8,397.7,16.7,158,3167,0.00,2.35,0.00,0.000,4,0.000,0.053,3648,3267,2252
$GC,3179,2.21,125.8,395.0,16.7,158,3183,0.00,2.40,0.00,0.000,6,0.000,0.049,3648,1848,2252
$GC,3405,2.21,125.8,358.2,16.1,164,3409,0.00,2.35,0.00,0.000,4,0.000,0.051,3648,3269,2250
$GC,3662,2.21,125.8,314.6,16.2,169,3669,0.00,2.38,0.00,0.000,6,0.000,0.046,3648,1839,2247
$GC,3851,2.21,125.8,286.1,14.8,176,3856,0.00,2.35,0.00,0.000,4,0.000,0.041,3648,3273,2246
$GC,4107,2.22,133.1,250.9,12.4,187,4118,0.00,2.35,4.53,0.544,6,0.000,0.041,3648,1854,2231
$GC,4321,2.23,139.2,224.3,12.5,198,4332,0.00,2.33,6.43,0.620,4,0.000,0.039,3648,3272,2206
$GC,4586,2.23,142.8,190.9,12.9,213,4597,0.00,2.33,4.30,0.504,6,0.000,0.039,3648,1848,2191
$GC,4787,2.23,142.8,164.9,14.1,232,4791,0.00,2.30,0.00,0.000,4,0.000,0.039,3648,3275,2190
$GC,5044,2.24,151.4,134.1,12.2,255,5058,0.00,2.33,8.48,0.594,6,0.000,0.036,3648,1839,2157
$GC,5248,2.27,172.0,110.3,10.7,274,5274,0.00,2.38,18.33,0.621,4,0.000,0.040,3648,3273,2071
$GC,5521,2.28,184.0,73.3,11.8,298,5543,0.00,2.30,10.88,0.558,6,0.000,0.041,3648,1853,2023
$GC,5734,2.31,206.0,48.3,10.5,318,5760,0.00,2.33,19.67,0.562,4,0.000,0.037,3648,3281,1933
$GC,6009,2.31,206.0,12.6,14.0,354,6017,0.00,2.35,0.00,0.000,6,0.000,0.036,3648,1847,1930
$STATE,6077,end climb,SURFACE_DEPTH_REACHED
$STATE,6077,begin surface coast
$FINISH,0.6,1.012520
$STATE,6100,end surface coast,CONTROL_FINISHED_OK
$STATE,6101,begin surface
$SM_CCo,6121,139.55,0.526,0,0,1224,380.21
$SM_GC,1.18,0.00,0.00,139.55,0.000,0.000,0.526,476,1780,1224,-12.34,-0.54,380.21
$IRIDIUM_FIX,2230.01,-15726.40,310897,020255
$TT8_MAMPS,0.026078
$HUMID,1518
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,21.30
$XPDR_PINGS,411
$24V_AH,23.8,12.594
$10V_AH,10.2,8.057
$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,28.725,75.375,283.250,139.550,0.000,84.582,93.509,324.884,113.000,0.000,0.000,43.169,785.547,3470.531,507.049,1643.245,614.463,0.000,1103.722,0.000,1585.767,0.000,64.408
$DEVICE_MAMPS,151.866,127.322,874.380,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,254.322,230.922,331.505,436.275,922.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28785,370
$CAP_FILE_SIZE,76909,0
$CFSIZE,260165632,255401984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060608,035037,2238.666,-15724.776,8,1.2,25,10.1