version: 66.03
glider: 146
mission: 2
dive: 61
start: 6 6 108 11 3 30
data:
$ID,146
$MISSION,2
$DIVE,61
$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,-5685.1729
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,105902,2239.185,-15725.490,40,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.1
$GPS2,110309,2239.191,-15725.523,15,1.1,15,10.1
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP18
$TGT_LATLONG,2239.300,-15728.600
$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,262.1,5261,-15.6,-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,-1.33,-292.0,0.0,0.0,0,81,0.00,0.00,-61.38,0.000,2,0.000,0.000,474,1788,2728
$GC,84,-1.33,-292.0,3.1,-5.6,8,131,12.40,2.40,-27.35,0.000,4,0.153,0.084,2863,402,3952
$GC,253,-1.33,-292.0,43.9,-25.8,32,257,0.00,2.22,0.00,0.000,6,0.000,0.037,2863,1823,3955
$GC,452,-1.33,-292.0,90.9,-20.2,50,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1825,3955
$GC,643,-1.33,-292.0,127.9,-19.1,68,647,0.00,2.53,0.00,0.000,4,0.000,0.089,2863,407,3956
$GC,672,-1.33,-292.0,133.7,-20.2,70,676,0.00,2.22,0.00,0.000,6,0.000,0.038,2862,1810,3956
$GC,868,-1.33,-292.0,167.8,-16.5,88,872,0.00,2.53,0.00,0.000,4,0.000,0.088,2863,405,3957
$GC,910,-1.33,-292.0,174.6,-16.7,91,915,0.00,2.25,0.00,0.000,6,0.000,0.044,2863,1803,3957
$GC,1116,-1.33,-292.0,207.5,-16.2,108,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1805,3958
$GC,1305,-1.33,-292.0,233.7,-12.8,117,1309,0.00,2.53,0.00,0.000,4,0.000,0.096,2863,408,3959
$GC,1325,-1.33,-292.0,237.1,-13.7,118,1330,0.00,2.28,0.00,0.000,6,0.000,0.054,2863,1793,3959
$GC,1528,-1.33,-292.0,263.7,-14.1,128,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1796,3960
$GC,1718,-1.33,-292.0,288.6,-13.3,137,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1796,3960
$GC,1899,-1.33,-292.0,311.9,-12.5,144,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1796,3960
$GC,2102,-1.33,-292.0,336.8,-12.2,149,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1796,3960
$GC,2309,-1.33,-292.0,360.9,-11.9,154,2313,0.00,2.58,0.00,0.000,4,0.000,0.108,2863,412,3960
$GC,2374,-1.33,-292.0,369.5,-11.8,155,2379,0.00,2.35,0.00,0.000,6,0.000,0.060,2863,1780,3960
$GC,2595,-1.33,-292.0,394.4,-11.4,161,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1780,3959
$GC,2798,-1.33,-292.0,418.4,-11.9,166,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1780,3959
$GC,3001,-1.33,-292.0,443.1,-12.1,171,3005,0.00,2.55,0.00,0.000,4,0.000,0.117,2863,413,3958
$GC,3033,-1.33,-292.0,447.3,-12.9,171,3039,0.00,2.40,0.00,0.000,6,0.000,0.074,2863,1805,3958
$GC,3242,-1.33,-292.0,472.1,-11.9,177,3246,0.00,2.47,0.00,0.000,4,0.000,0.084,2863,3209,3957
$GC,3262,-1.33,-292.0,474.5,-10.9,177,3267,0.00,2.38,0.00,0.000,6,0.000,0.067,2863,1820,3957
$STATE,3320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3320,begin apogee
$GC,3325,-0.31,0.0,480.6,10.8,179,3568,1.02,0.00,239.57,0.896,6,0.083,0.000,3093,1866,2774
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3571,1.33,292.0,493.0,0.0,185,3822,1.52,2.42,242.30,0.867,4,0.044,0.057,3456,3244,1584
$GC,3866,1.33,292.0,462.3,16.9,192,3871,0.00,2.42,0.00,0.000,6,0.000,0.061,3456,1859,1578
$GC,4063,1.33,292.0,430.2,16.4,197,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1858,1575
$GC,4266,1.33,292.0,396.7,16.5,202,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1858,1574
$GC,4469,1.33,292.0,362.8,16.7,207,4473,0.00,2.65,0.00,0.000,4,0.000,0.105,3456,438,1572
$GC,4512,1.33,292.0,354.9,18.6,208,4516,0.00,2.38,0.00,0.000,6,0.000,0.056,3456,1846,1570
$GC,4714,1.33,292.0,321.0,16.8,213,4718,0.00,2.33,0.00,0.000,4,0.000,0.047,3456,3263,1569
$GC,4752,1.33,292.0,314.5,16.6,214,4756,0.00,2.35,0.00,0.000,6,0.000,0.051,3457,1840,1568
$GC,4964,1.33,292.0,280.4,15.8,221,4968,0.00,2.33,0.00,0.000,4,0.000,0.046,3456,3259,1568
$GC,4984,1.33,292.0,276.5,15.6,222,4989,0.00,2.33,0.00,0.000,6,0.000,0.048,3456,1851,1567
$GC,5187,1.33,292.0,247.0,14.5,232,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1852,1566
$GC,5375,1.33,292.0,221.0,13.8,241,5379,0.00,2.30,0.00,0.000,4,0.000,0.038,3456,3263,1565
$GC,5395,1.33,292.0,217.8,13.7,242,5400,0.00,2.35,0.00,0.000,6,0.000,0.042,3456,1846,1565
$GC,5590,1.33,292.0,189.4,15.0,254,5594,0.00,2.47,0.00,0.000,4,0.000,0.082,3456,449,1564
$GC,5644,1.33,292.0,179.8,17.3,258,5654,0.00,2.30,0.00,0.000,6,0.000,0.041,3457,1857,1563
$GC,5844,1.33,292.0,151.2,13.7,277,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1858,1563
$GC,6035,1.33,292.0,124.8,14.6,295,6039,0.00,2.50,0.00,0.000,4,0.000,0.082,3456,442,1562
$GC,6103,1.33,292.0,114.6,14.5,301,6107,0.00,2.25,0.00,0.000,6,0.000,0.041,3456,1857,1561
$GC,6307,1.35,306.9,87.5,12.9,320,6324,0.00,2.30,10.52,0.578,4,0.000,0.038,3456,3249,1522
$GC,6369,1.40,345.2,79.5,12.2,325,6415,0.00,2.28,34.88,0.605,6,0.000,0.041,3456,1851,1366
$GC,6606,1.51,434.2,51.3,10.6,347,6688,0.15,2.50,75.65,0.574,4,0.063,0.077,3501,445,1004
$GC,6723,1.51,434.2,33.6,19.6,356,6727,0.00,2.22,0.00,0.000,6,0.000,0.028,3501,1852,1001
$STATE,6886,end climb,SURFACE_DEPTH_REACHED
$STATE,6886,begin surface coast
$FINISH,0.6,1.011137
$STATE,6905,end surface coast,CONTROL_FINISHED_OK
$STATE,6905,begin surface
$SM_CCo,6985,0.00,0.000,0,0,993,436.88
$SM_GC,1.13,12.40,0.00,0.00,0.031,0.000,0.000,477,1765,993,-12.26,-0.99,436.88
$IRIDIUM_FIX,2227.67,-15724.24,310897,090904
$TT8_MAMPS,0.026078
$HUMID,1598
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,20.90
$XPDR_PINGS,336
$ALTIM_BOTTOM_PING,360.9,2.5
$24V_AH,23.7,13.215
$10V_AH,10.2,8.465
$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,27.500,76.500,602.925,0.000,0.000,28.355,27.130,109.133,91.500,0.000,0.000,20.455,764.150,4175.248,594.105,1445.439,267.006,0.000,1191.859,0.000,1418.099,0.000,48.678
$DEVICE_MAMPS,152.633,120.419,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,264.261,237.849,333.856,426.483,900.662,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28694,386
$CAP_FILE_SIZE,70665,0
$CFSIZE,260165632,255197184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,060608,130039,2238.991,-15727.420,10,1.4,10,10.1