version: 66.03
glider: 146
mission: 2
dive: 122
start: 6 11 108 5 13 32
data:
$ID,146
$MISSION,2
$DIVE,122
$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,330
$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,-6926.3633
$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,28
$R_STBD_OVSHOOT,18
$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
$GPS1,050608,2221.221,-15746.215,29,1.0,30,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.6
$GPS2,051309,2221.241,-15746.180,13,1.9,13,10.0
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP59
$TGT_LATLONG,2221.200,-15747.200
$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,257.5,1749,-26.3,-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,-1.78,-106.6,0.0,0.0,0,73,0.00,0.00,-53.22,0.000,2,0.000,0.000,467,1784,2740
$GC,75,-1.87,-185.4,3.2,-6.7,7,115,12.38,2.35,-17.58,0.000,4,0.173,0.044,2746,3227,3533
$GC,319,-1.87,-185.4,62.7,-21.7,37,323,0.00,2.30,0.00,0.000,6,0.000,0.038,2746,1802,3536
$GC,519,-1.87,-185.4,112.4,-26.9,55,522,0.00,2.25,0.00,0.000,4,0.000,0.026,2746,3235,3537
$GC,584,-1.87,-185.4,128.3,-23.4,60,588,0.00,2.33,0.00,0.000,6,0.000,0.036,2746,1789,3537
$GC,781,-1.87,-185.4,170.2,-19.0,78,785,0.00,2.28,0.00,0.000,4,0.000,0.031,2746,3225,3539
$GC,813,-1.87,-185.4,177.4,-20.3,80,823,0.00,2.30,0.00,0.000,6,0.000,0.039,2746,1808,3539
$GC,1019,-1.87,-185.4,215.0,-18.1,96,1023,0.00,2.28,0.00,0.000,4,0.000,0.033,2746,3230,3541
$GC,1089,-1.87,-185.4,227.4,-17.2,99,1094,0.00,2.33,0.00,0.000,6,0.000,0.034,2746,1809,3540
$GC,1290,-1.87,-185.4,264.6,-20.1,109,1294,0.00,2.28,0.00,0.000,4,0.000,0.038,2746,3223,3541
$GC,1343,-1.87,-185.4,275.9,-18.6,111,1350,0.00,2.35,0.00,0.000,6,0.000,0.049,2746,1810,3541
$GC,1535,-1.87,-185.4,310.2,-17.6,120,1539,0.00,2.58,0.00,0.000,4,0.000,0.099,2746,398,3541
$GC,1555,-1.87,-185.4,314.2,-18.0,120,1560,0.00,2.35,0.00,0.000,6,0.000,0.047,2746,1809,3541
$GC,1776,-1.87,-185.4,349.6,-15.6,126,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1810,3542
$GC,1981,-1.87,-185.4,382.7,-16.7,131,1985,0.00,2.35,0.00,0.000,4,0.000,0.060,2746,3204,3541
$GC,2077,-1.87,-185.4,398.5,-16.7,133,2081,0.00,2.38,0.00,0.000,6,0.000,0.056,2746,1803,3541
$GC,2269,-1.87,-185.4,431.3,-17.5,138,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1802,3540
$GC,2470,-1.87,-185.4,463.5,-15.7,143,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1802,3539
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2590,begin apogee
$GC,2595,-0.31,0.0,481.8,15.2,146,2753,1.58,0.00,153.88,0.887,6,0.094,0.000,3089,1855,2775
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2755,1.87,185.4,486.9,0.0,150,2913,2.05,0.00,151.88,0.864,6,0.041,0.000,3578,1855,2019
$GC,3114,1.87,185.4,433.8,19.5,159,3118,0.00,2.38,0.00,0.000,4,0.000,0.058,3579,3250,2011
$GC,3192,1.87,185.4,419.3,18.0,160,3196,0.00,2.40,0.00,0.000,6,0.000,0.054,3578,1851,2010
$GC,3406,1.87,185.4,380.7,18.1,166,3410,0.00,2.33,0.00,0.000,4,0.000,0.046,3578,3261,2008
$GC,3517,1.87,185.4,361.2,17.1,168,3522,0.00,2.40,0.00,0.000,6,0.000,0.047,3578,1847,2007
$GC,3743,1.87,185.4,320.9,18.1,174,3747,0.00,2.30,0.00,0.000,4,0.000,0.040,3578,3258,2005
$GC,4000,1.87,185.4,275.9,16.0,182,4009,0.00,2.35,0.00,0.000,6,0.000,0.041,3578,1847,2003
$GC,4192,1.87,185.4,246.8,15.1,192,4196,0.00,2.30,0.00,0.000,4,0.000,0.038,3578,3258,2002
$GC,4345,1.87,185.4,223.7,14.6,199,4349,0.00,2.30,0.00,0.000,6,0.000,0.037,3578,1848,2001
$GC,4539,1.87,185.4,196.1,14.1,209,4543,0.00,2.30,0.00,0.000,4,0.000,0.036,3578,3268,1999
$GC,4743,1.87,185.4,169.8,13.6,227,4747,0.00,2.33,0.00,0.000,6,0.000,0.044,3578,1844,1999
$GC,4942,1.87,186.1,142.9,13.3,245,4946,0.00,2.28,0.00,0.000,4,0.000,0.035,3579,3262,1998
$GC,4965,1.87,186.1,139.3,15.5,247,4970,0.00,2.30,0.00,0.000,6,0.000,0.036,3578,1847,1998
$GC,5164,1.87,186.1,111.5,14.0,265,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1847,1997
$GC,5355,1.88,194.7,85.8,12.6,283,5366,0.00,0.00,5.25,0.489,6,0.000,0.000,3578,1847,1980
$GC,5557,1.94,243.8,63.9,9.2,302,5607,0.00,2.35,42.08,0.594,4,0.000,0.040,3578,3258,1779
$GC,5787,1.94,243.8,33.5,13.6,322,5791,0.00,2.30,0.00,0.000,6,0.000,0.035,3578,1844,1775
$STATE,5989,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FINISH,0.5,1.023209
$STATE,6012,end surface coast,CONTROL_FINISHED_OK
$STATE,6012,begin surface
$SM_CCo,6032,68.45,0.533,0,0,1428,330.17
$SM_GC,1.61,0.00,0.00,68.45,0.000,0.000,0.533,476,1787,1428,-12.35,-0.37,330.17
$IRIDIUM_FIX,2211.35,-15746.82,050997,050508
$TT8_MAMPS,0.026845
$HUMID,1583
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,21.50
$XPDR_PINGS,363
$24V_AH,23.8,21.566
$10V_AH,10.2,13.410
$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,28.675,65.400,353.075,68.450,0.000,56.463,106.412,116.618,101.000,0.000,0.000,15.055,755.918,3441.680,504.443,1447.482,389.863,0.000,1014.678,0.000,1430.424,0.000,64.367
$DEVICE_MAMPS,172.575,125.788,887.419,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,246.655,226.405,322.190,421.290,888.129,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28724,360
$CAP_FILE_SIZE,65295,0
$CFSIZE,260165632,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,110608,065558,2221.178,-15746.657,7,1.3,9,10.0