version: 66.03
glider: 146
mission: 2
dive: 68
start: 6 6 108 23 48 1
data:
$ID,146
$MISSION,2
$DIVE,68
$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,350
$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,-5803.3931
$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,40
$R_STBD_OVSHOOT,43
$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
$GPS1,234337,2240.675,-15733.115,35,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.7
$GPS2,234739,2240.696,-15733.133,13,1.5,13,10.1
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP22
$TGT_LATLONG,2236.500,-15736.800
$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,208.8,9984,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.33,-292.0,0.0,0.0,0,88,0.00,0.00,-68.53,0.000,2,0.000,0.000,473,1778,2822
$GC,90,-1.33,-292.0,3.5,-7.2,9,137,12.43,2.42,-23.55,0.000,4,0.153,0.089,2863,420,3955
$GC,210,-1.33,-292.0,31.1,-23.1,28,218,0.00,2.22,0.00,0.000,6,0.000,0.037,2863,1807,3956
$GC,409,-1.33,-292.0,81.3,-24.4,47,413,0.00,2.17,0.00,0.000,4,0.000,0.027,2862,3197,3956
$GC,439,-1.33,-292.0,89.0,-25.0,49,444,0.00,2.22,0.00,0.000,6,0.000,0.035,2863,1805,3957
$GC,643,-1.33,-292.0,126.9,-17.6,68,647,0.00,2.53,0.00,0.000,4,0.000,0.094,2863,405,3958
$GC,706,-1.33,-292.0,138.3,-18.1,73,710,0.00,2.25,0.00,0.000,6,0.000,0.047,2863,1796,3958
$GC,906,-1.33,-292.0,174.3,-17.6,91,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1799,3959
$GC,1101,-1.33,-292.0,207.3,-15.7,108,1105,0.00,2.55,0.00,0.000,4,0.000,0.100,2863,405,3959
$GC,1126,-1.33,-292.0,211.7,-16.2,109,1131,0.00,2.30,0.00,0.000,6,0.000,0.052,2863,1795,3959
$GC,1328,-1.33,-292.0,241.9,-15.5,119,1333,0.00,2.58,0.00,0.000,4,0.000,0.105,2862,406,3960
$GC,1369,-1.33,-292.0,249.1,-17.1,121,1377,0.00,2.30,0.00,0.000,6,0.000,0.059,2863,1789,3960
$GC,1584,-1.33,-292.0,281.8,-14.4,131,1588,0.00,2.28,0.00,0.000,4,0.000,0.040,2863,3204,3961
$GC,1627,-1.33,-292.0,287.7,-11.7,133,1631,0.00,2.33,0.00,0.000,6,0.000,0.044,2862,1808,3960
$GC,1829,-1.33,-292.0,311.7,-12.1,141,1834,0.00,2.67,0.00,0.000,4,0.000,0.117,2863,398,3961
$GC,1861,-1.33,-292.0,316.2,-13.2,141,1868,0.00,2.40,0.00,0.000,6,0.000,0.064,2862,1794,3961
$GC,2072,-1.33,-292.0,341.9,-12.3,147,2076,0.00,2.65,0.00,0.000,4,0.000,0.115,2863,395,3960
$GC,2104,-1.33,-292.0,346.2,-12.3,147,2110,0.00,2.42,0.00,0.000,6,0.000,0.068,2863,1806,3961
$GC,2315,-1.33,-292.0,371.1,-12.0,153,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1807,3961
$GC,2515,-1.33,-292.0,398.5,-13.7,158,2520,0.00,2.70,0.00,0.000,4,0.000,0.122,2863,399,3961
$GC,2547,-1.33,-292.0,403.4,-15.4,158,2554,0.00,2.45,0.00,0.000,6,0.000,0.079,2863,1789,3961
$GC,2757,-1.33,-292.0,430.9,-12.9,164,2762,0.00,2.70,0.00,0.000,4,0.000,0.126,2862,396,3960
$GC,2778,-1.33,-292.0,433.9,-13.5,164,2783,0.00,2.47,0.00,0.000,6,0.000,0.076,2863,1792,3960
$GC,3001,-1.33,-292.0,460.7,-11.9,170,3006,0.00,2.72,0.00,0.000,4,0.000,0.130,2863,397,3959
$GC,3034,-1.33,-292.0,465.3,-13.1,170,3040,0.00,2.47,0.00,0.000,6,0.000,0.081,2863,1801,3959
$STATE,3160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3160,begin apogee
$GC,3165,-0.31,0.0,481.0,12.4,174,3407,1.02,0.00,238.90,0.890,6,0.081,0.000,3093,1854,2775
$STATE,3408,end apogee,CONTROL_FINISHED_OK
$STATE,3408,begin climb
$GC,3410,1.33,292.0,496.5,0.0,180,3661,1.50,2.80,240.77,0.866,4,0.044,0.119,3455,446,1583
$GC,3695,1.33,292.0,466.8,20.8,187,3699,0.00,2.53,0.00,0.000,6,0.000,0.081,3455,1851,1579
$GC,3895,1.33,292.0,431.4,17.3,192,3900,0.00,2.70,0.00,0.000,4,0.000,0.113,3455,444,1575
$GC,3910,1.33,292.0,428.6,17.2,192,3915,0.00,2.50,0.00,0.000,6,0.000,0.071,3455,1856,1575
$GC,4136,1.33,292.0,390.5,16.9,198,4140,0.00,2.67,0.00,0.000,4,0.000,0.112,3456,441,1573
$GC,4168,1.33,292.0,384.0,20.6,198,4175,0.00,2.47,0.00,0.000,6,0.000,0.067,3455,1848,1572
$GC,4377,1.33,292.0,345.4,18.5,204,4381,0.00,2.33,0.00,0.000,4,0.000,0.049,3455,3263,1571
$GC,4409,1.33,292.0,339.4,17.8,204,4414,0.00,2.40,0.00,0.000,6,0.000,0.054,3455,1857,1569
$GC,4624,1.33,292.0,303.1,16.5,210,4629,0.00,2.60,0.00,0.000,4,0.000,0.102,3455,446,1568
$GC,4651,1.33,292.0,298.5,17.7,210,4656,0.00,2.42,0.00,0.000,6,0.000,0.064,3455,1863,1568
$GC,4848,1.33,292.0,269.3,14.7,220,4852,0.00,2.25,0.00,0.000,4,0.000,0.043,3455,3254,1567
$GC,4879,1.33,292.0,264.7,13.7,221,4887,0.00,2.33,0.00,0.000,6,0.000,0.045,3455,1844,1566
$GC,5074,1.33,292.0,236.6,15.3,231,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1844,1565
$GC,5257,1.33,292.0,206.6,16.1,240,5261,0.00,2.53,0.00,0.000,4,0.000,0.094,3455,451,1564
$GC,5299,1.33,292.0,199.0,17.5,242,5309,0.00,2.35,0.00,0.000,6,0.000,0.058,3455,1852,1564
$GC,5499,1.33,292.0,170.2,14.5,261,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1853,1563
$GC,5690,1.33,292.0,139.2,15.4,279,5694,0.00,2.25,0.00,0.000,4,0.000,0.037,3455,3254,1563
$GC,5742,1.33,292.0,131.3,14.3,283,5746,0.00,2.28,0.00,0.000,6,0.000,0.038,3455,1843,1562
$GC,5941,1.44,379.8,107.9,10.6,301,6020,0.00,2.58,72.57,0.640,4,0.000,0.091,3455,450,1224
$GC,6097,1.44,379.8,84.5,18.0,314,6107,0.00,2.30,0.00,0.000,6,0.000,0.044,3455,1850,1220
$GC,6297,1.44,379.8,55.1,13.8,333,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1853,1217
$GC,6489,1.44,379.8,28.0,15.1,352,6497,0.00,2.25,0.00,0.000,4,0.000,0.032,3455,3248,1216
$GC,6521,1.44,379.8,23.3,14.8,357,6529,0.00,2.30,0.00,0.000,6,0.000,0.038,3455,1850,1215
$STATE,6665,end climb,SURFACE_DEPTH_REACHED
$STATE,6665,begin surface coast
$FINISH,0.6,1.023285
$STATE,6689,end surface coast,CONTROL_FINISHED_OK
$STATE,6690,begin surface
$SM_CCo,6769,0.00,0.000,0,0,1210,383.89
$SM_GC,1.39,12.18,0.00,0.00,0.032,0.000,0.000,474,1785,1210,-12.25,-0.42,383.89
$IRIDIUM_FIX,2232.34,-15733.76,310897,212101
$TT8_MAMPS,0.026078
$HUMID,1596
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,21.30
$XPDR_PINGS,365
$24V_AH,23.7,14.264
$10V_AH,10.2,9.010
$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,27.125,102.825,552.250,0.000,0.000,24.547,26.695,110.978,101.500,0.000,0.000,15.183,775.733,3912.131,604.522,1466.937,264.253,0.000,1215.807,0.000,1439.593,0.000,64.371
$DEVICE_MAMPS,152.633,129.623,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,264.452,236.048,337.531,436.803,922.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28800,387
$CAP_FILE_SIZE,73920,0
$CFSIZE,260165632,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,070608,014135,2239.587,-15734.376,9,1.5,11,10.1