version: 66.03
glider: 146
mission: 2
dive: 136
start: 6 12 108 6 42 50
data:
$ID,146
$MISSION,2
$DIVE,136
$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,-7206.8721
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,063821,2217.577,-15741.363,7,1.2,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,064227,2217.598,-15741.341,10,1.5,10,10.0
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP69
$TGT_LATLONG,2230.000,-15749.000
$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,320.3,26444,-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,-292.0,0.0,0.0,0,74,0.00,0.00,-54.03,0.000,2,0.000,0.000,476,1781,2778
$GC,76,-1.33,-292.0,3.3,-6.3,7,122,13.02,2.28,-24.38,0.000,4,0.172,0.046,2861,3179,3955
$GC,256,-1.33,-292.0,40.8,-18.2,32,260,0.00,2.22,0.00,0.000,6,0.000,0.037,2861,1807,3957
$GC,454,-1.33,-292.0,84.9,-21.0,50,458,0.00,2.47,0.00,0.000,4,0.000,0.077,2862,402,3957
$GC,528,-1.33,-292.0,99.5,-17.7,56,536,0.00,2.22,0.00,0.000,6,0.000,0.034,2862,1809,3957
$GC,735,-1.33,-292.0,136.7,-17.0,75,739,0.00,2.17,0.00,0.000,4,0.000,0.036,2861,3196,3958
$GC,766,-1.33,-292.0,141.7,-16.5,77,770,0.00,2.25,0.00,0.000,6,0.000,0.035,2861,1798,3959
$GC,964,-1.33,-292.0,175.8,-17.3,95,968,0.00,2.47,0.00,0.000,4,0.000,0.087,2862,404,3959
$GC,1018,-1.33,-292.0,186.3,-18.0,99,1024,0.00,2.25,0.00,0.000,6,0.000,0.040,2862,1792,3959
$GC,1216,-1.33,-292.0,218.4,-16.2,113,1220,0.00,2.50,0.00,0.000,4,0.000,0.092,2861,396,3960
$GC,1248,-1.33,-292.0,224.4,-16.4,114,1257,0.00,2.28,0.00,0.000,6,0.000,0.039,2861,1802,3960
$GC,1440,-1.33,-292.0,252.2,-14.7,124,1444,0.00,2.50,0.00,0.000,4,0.000,0.088,2862,404,3960
$GC,1472,-1.33,-292.0,257.0,-14.5,125,1479,0.00,2.28,0.00,0.000,6,0.000,0.044,2861,1785,3960
$GC,1666,-1.33,-292.0,283.9,-14.3,135,1670,0.00,2.30,0.00,0.000,4,0.000,0.044,2862,3205,3960
$GC,1687,-1.33,-292.0,287.3,-13.7,136,1692,0.00,2.33,0.00,0.000,6,0.000,0.043,2861,1806,3961
$GC,1909,-1.33,-292.0,318.8,-14.2,144,1913,0.00,2.60,0.00,0.000,4,0.000,0.103,2862,397,3960
$GC,1952,-1.33,-292.0,324.9,-13.6,145,1956,0.00,2.33,0.00,0.000,6,0.000,0.049,2862,1788,3961
$GC,2155,-1.33,-292.0,350.6,-12.8,150,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1788,3961
$GC,2358,-1.33,-292.0,374.8,-11.8,155,2363,0.00,2.58,0.00,0.000,4,0.000,0.103,2861,396,3961
$GC,2397,-1.33,-292.0,379.9,-13.1,156,2402,0.00,2.35,0.00,0.000,6,0.000,0.052,2861,1800,3961
$GC,2605,-1.33,-292.0,404.7,-12.0,161,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1801,3961
$GC,2809,-1.33,-292.0,429.9,-12.5,166,2813,0.00,2.60,0.00,0.000,4,0.000,0.107,2861,398,3960
$GC,2846,-1.33,-292.0,435.1,-12.8,166,2853,0.00,2.38,0.00,0.000,6,0.000,0.064,2861,1803,3960
$GC,3057,-1.33,-292.0,460.3,-12.2,172,3061,0.00,2.62,0.00,0.000,4,0.000,0.107,2862,395,3959
$GC,3083,-1.33,-292.0,463.9,-13.2,172,3087,0.00,2.40,0.00,0.000,6,0.000,0.060,2861,1807,3960
$STATE,3256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3256,begin apogee
$GC,3261,-0.31,0.0,483.9,11.6,177,3502,1.02,0.00,237.43,0.899,6,0.081,0.000,3092,1853,2775
$STATE,3502,end apogee,CONTROL_FINISHED_OK
$STATE,3502,begin climb
$GC,3504,1.33,292.0,496.5,0.0,183,3750,1.55,0.00,241.60,0.872,6,0.042,0.000,3462,1853,1584
$GC,3940,1.33,292.0,435.3,19.1,194,3945,0.00,2.60,0.00,0.000,4,0.000,0.102,3462,448,1576
$GC,3967,1.33,292.0,429.8,20.6,194,3971,0.00,2.40,0.00,0.000,6,0.000,0.055,3462,1846,1574
$GC,4182,1.33,292.0,390.7,18.0,200,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1846,1573
$GC,4385,1.33,292.0,355.4,17.3,205,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1846,1572
$GC,4588,1.33,292.0,320.3,17.3,210,4592,0.00,2.35,0.00,0.000,4,0.000,0.043,3462,3270,1570
$GC,4608,1.33,292.0,316.5,18.2,210,4612,0.00,2.38,0.00,0.000,6,0.000,0.043,3462,1847,1568
$GC,4810,1.33,292.0,282.8,16.4,218,4814,0.00,2.50,0.00,0.000,4,0.000,0.087,3462,445,1568
$GC,4828,1.33,292.0,280.1,16.2,219,4832,0.00,2.30,0.00,0.000,6,0.000,0.040,3462,1875,1567
$GC,5032,1.33,292.0,246.5,17.1,229,5035,0.00,2.20,0.00,0.000,4,0.000,0.034,3462,3253,1566
$GC,5058,1.33,292.0,241.7,16.2,230,5063,0.00,2.30,0.00,0.000,6,0.000,0.041,3462,1854,1566
$GC,5261,1.33,292.0,212.1,14.5,240,5265,0.00,2.47,0.00,0.000,4,0.000,0.081,3462,448,1565
$GC,5332,1.33,292.0,200.6,16.5,243,5336,0.00,2.28,0.00,0.000,6,0.000,0.035,3462,1847,1564
$GC,5534,1.33,292.0,172.0,13.5,262,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1848,1563
$GC,5728,1.38,325.8,146.5,12.3,280,5760,0.00,2.58,26.90,0.670,4,0.000,0.075,3462,445,1446
$GC,5785,1.38,325.8,138.8,14.7,285,5789,0.00,2.25,0.00,0.000,6,0.000,0.030,3462,1854,1444
$GC,5984,1.38,325.8,111.9,13.8,303,5988,0.00,2.22,0.00,0.000,4,0.000,0.039,3462,3248,1442
$GC,6046,1.38,325.8,103.1,13.6,308,6051,0.00,2.28,0.00,0.000,6,0.000,0.044,3462,1838,1441
$GC,6245,1.38,325.8,74.7,13.8,326,6249,0.00,2.40,0.00,0.000,4,0.000,0.074,3462,451,1441
$GC,6286,1.38,325.8,68.4,16.2,329,6290,0.00,2.20,0.00,0.000,6,0.000,0.026,3462,1857,1440
$GC,6485,1.42,360.4,41.4,12.3,347,6521,0.00,2.53,30.38,0.567,4,0.000,0.075,3462,450,1304
$GC,6542,1.42,360.4,33.9,14.7,352,6546,0.00,2.20,0.00,0.000,6,0.000,0.024,3462,1855,1302
$GC,6744,1.42,360.4,5.9,14.6,386,6753,0.00,2.45,0.00,0.000,4,0.000,0.067,3462,453,1301
$STATE,6770,end climb,SURFACE_DEPTH_REACHED
$STATE,6770,begin surface coast
$FINISH,0.5,1.023284
$STATE,6782,end surface coast,CONTROL_FINISHED_OK
$STATE,6782,begin surface
$SM_CCo,6864,0.00,0.000,0,0,1294,363.29
$SM_GC,1.32,12.20,0.00,0.00,0.031,0.000,0.000,469,1807,1294,-12.27,0.20,363.29
$IRIDIUM_FIX,2209.02,-15742.51,060997,040442
$TT8_MAMPS,0.026078
$HUMID,1607
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,21.30
$XPDR_PINGS,361
$24V_AH,23.8,23.265
$10V_AH,10.2,14.545
$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,27.800,99.450,536.300,0.000,0.000,28.899,29.644,106.420,100.500,0.000,0.000,11.611,799.988,4000.007,636.336,1407.976,279.354,0.000,1158.208,0.000,1390.670,0.000,64.380
$DEVICE_MAMPS,171.808,116.584,898.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.436,242.935,341.613,443.649,935.267,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28727,392
$CAP_FILE_SIZE,72345,0
$CFSIZE,260165632,252235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120608,083826,2218.815,-15741.495,38,1.1,38,10.0