version: 66.03
glider: 146
mission: 2
dive: 140
start: 6 12 108 14 59 57
data:
$ID,146
$MISSION,2
$DIVE,140
$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,-7278.3545
$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,50
$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
$GPS1,144853,2221.918,-15742.164,11,5.2,30,10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.9
$GPS2,145935,2221.860,-15742.113,10,5.4,29,10.0
$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,312.0,19134,-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,-292.0,0.0,0.0,0,80,0.00,0.00,-60.75,0.000,2,0.000,0.000,474,1780,2801
$GC,83,-1.33,-292.0,3.2,-6.5,8,130,13.12,2.28,-24.02,0.000,4,0.176,0.042,2864,3187,3955
$GC,241,-1.33,-292.0,33.4,-16.2,33,245,0.00,2.20,0.00,0.000,6,0.000,0.036,2864,1815,3956
$GC,446,-1.33,-292.0,77.1,-19.8,52,450,0.00,2.50,0.00,0.000,4,0.000,0.083,2864,400,3956
$GC,479,-1.33,-292.0,85.2,-23.0,54,488,0.00,2.22,0.00,0.000,6,0.000,0.031,2864,1811,3956
$GC,679,-1.33,-292.0,125.7,-18.5,73,683,0.00,2.50,0.00,0.000,4,0.000,0.089,2864,402,3957
$GC,708,-1.33,-292.0,131.2,-18.7,75,712,0.00,2.20,0.00,0.000,6,0.000,0.034,2864,1816,3957
$GC,907,-1.33,-292.0,165.2,-17.0,93,911,0.00,2.55,0.00,0.000,4,0.000,0.093,2864,398,3958
$GC,960,-1.33,-292.0,175.1,-17.5,97,964,0.00,2.22,0.00,0.000,6,0.000,0.040,2864,1799,3958
$GC,1166,-1.33,-292.0,208.4,-16.3,114,1170,0.00,2.53,0.00,0.000,4,0.000,0.091,2864,402,3959
$GC,1204,-1.33,-292.0,215.0,-17.7,116,1208,0.00,2.22,0.00,0.000,6,0.000,0.044,2864,1789,3959
$GC,1406,-1.33,-292.0,244.0,-13.9,126,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1792,3959
$GC,1596,-1.33,-292.0,270.4,-14.7,135,1600,0.00,2.55,0.00,0.000,4,0.000,0.100,2864,404,3959
$GC,1657,-1.33,-292.0,280.1,-14.2,138,1661,0.00,2.30,0.00,0.000,6,0.000,0.052,2864,1790,3959
$GC,1858,-1.33,-292.0,306.9,-13.1,147,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1791,3959
$GC,2062,-1.33,-292.0,331.9,-12.3,152,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1792,3959
$GC,2264,-1.33,-292.0,355.9,-11.7,157,2269,0.00,2.60,0.00,0.000,4,0.000,0.108,2864,401,3959
$GC,2342,-1.33,-292.0,365.4,-11.5,158,2348,0.00,2.38,0.00,0.000,6,0.000,0.061,2864,1795,3959
$GC,2551,-1.33,-292.0,389.2,-11.3,164,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1797,3958
$GC,2755,-1.33,-292.0,412.6,-11.6,169,2759,0.00,2.62,0.00,0.000,4,0.000,0.112,2864,405,3958
$GC,2787,-1.33,-292.0,416.5,-12.0,169,2793,0.00,2.40,0.00,0.000,6,0.000,0.063,2864,1802,3958
$GC,2998,-1.33,-292.0,439.2,-10.8,175,3002,0.00,2.65,0.00,0.000,4,0.000,0.119,2864,401,3957
$GC,3052,-1.33,-292.0,445.6,-11.3,176,3056,0.00,2.42,0.00,0.000,6,0.000,0.066,2864,1807,3957
$GC,3243,-1.33,-292.0,465.6,-10.6,181,3248,0.00,2.65,0.00,0.000,4,0.000,0.117,2864,405,3956
$GC,3264,-1.33,-292.0,468.0,-11.0,181,3269,0.00,2.40,0.00,0.000,6,0.000,0.064,2864,1799,3956
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3403,begin apogee
$GC,3407,-0.31,0.0,482.5,10.4,185,3647,1.00,0.00,236.02,0.902,6,0.078,0.000,3090,1852,2775
$STATE,3648,end apogee,CONTROL_FINISHED_OK
$STATE,3648,begin climb
$GC,3649,1.33,292.0,495.9,0.0,191,3899,1.50,2.70,239.93,0.877,4,0.044,0.107,3453,455,1583
$GC,3910,1.33,292.0,473.4,17.6,197,3915,0.00,2.45,0.00,0.000,6,0.000,0.066,3454,1839,1581
$GC,4136,1.33,292.0,435.4,16.8,203,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1839,1575
$GC,4339,1.33,292.0,402.0,16.5,208,4344,0.00,2.58,0.00,0.000,4,0.000,0.103,3454,453,1573
$GC,4394,1.33,292.0,391.7,19.5,209,4399,0.00,2.42,0.00,0.000,6,0.000,0.059,3453,1860,1572
$GC,4585,1.33,292.0,359.1,17.0,214,4589,0.00,2.33,0.00,0.000,4,0.000,0.051,3454,3268,1571
$GC,4611,1.33,292.0,354.6,17.0,214,4616,0.00,2.38,0.00,0.000,6,0.000,0.045,3454,1852,1570
$GC,4826,1.33,292.0,317.9,17.5,220,4830,0.00,2.55,0.00,0.000,4,0.000,0.092,3454,446,1570
$GC,4852,1.33,292.0,312.7,20.1,220,4857,0.00,2.35,0.00,0.000,6,0.000,0.050,3454,1862,1569
$GC,5048,1.33,292.0,278.2,16.9,228,5052,0.00,2.25,0.00,0.000,4,0.000,0.041,3454,3252,1568
$GC,5117,1.33,292.0,267.1,15.8,231,5121,0.00,2.33,0.00,0.000,6,0.000,0.040,3454,1840,1567
$GC,5321,1.33,292.0,236.2,14.9,241,5325,0.00,2.47,0.00,0.000,4,0.000,0.084,3454,444,1566
$GC,5361,1.33,292.0,229.8,17.2,243,5366,0.00,2.28,0.00,0.000,6,0.000,0.037,3454,1856,1565
$GC,5566,1.34,295.3,201.3,13.2,253,5570,0.00,2.22,0.00,0.000,4,0.000,0.035,3454,3251,1564
$GC,5602,1.37,321.9,196.6,12.5,255,5635,0.00,2.28,24.23,0.719,6,0.000,0.038,3454,1844,1461
$GC,5825,1.37,321.9,164.3,13.8,276,5829,0.00,2.45,0.00,0.000,4,0.000,0.078,3453,448,1457
$GC,5873,1.37,321.9,156.7,15.7,280,5883,0.00,2.28,0.00,0.000,6,0.000,0.039,3454,1854,1455
$GC,6073,1.37,321.9,125.8,16.9,299,6077,0.00,2.22,0.00,0.000,4,0.000,0.032,3454,3256,1455
$GC,6092,1.37,321.9,122.9,16.5,300,6096,0.00,2.30,0.00,0.000,6,0.000,0.035,3454,1840,1455
$GC,6291,1.37,321.9,94.1,13.5,318,6295,0.00,2.42,0.00,0.000,4,0.000,0.080,3454,449,1454
$GC,6311,1.37,321.9,90.4,15.6,319,6320,0.00,2.22,0.00,0.000,6,0.000,0.028,3454,1850,1453
$GC,6511,1.37,321.9,62.7,13.5,338,6515,0.00,2.22,0.00,0.000,4,0.000,0.040,3453,3245,1453
$GC,6541,1.37,321.9,58.6,14.2,340,6545,0.00,2.25,0.00,0.000,6,0.000,0.038,3454,1843,1453
$GC,6745,1.45,388.8,34.3,11.3,359,6807,0.10,2.35,56.47,0.571,4,0.071,0.035,3481,3250,1189
$GC,6826,1.45,388.8,23.5,14.3,368,6834,0.00,2.33,0.00,0.000,6,0.000,0.036,3481,1846,1187
$STATE,6960,end climb,SURFACE_DEPTH_REACHED
$STATE,6960,begin surface coast
$FINISH,0.5,1.010519
$STATE,6979,end surface coast,CONTROL_FINISHED_OK
$STATE,6979,begin surface
$SM_CCo,7059,0.00,0.000,0,0,1179,391.50
$SM_GC,1.45,12.27,0.00,0.00,0.030,0.000,0.000,467,1774,1179,-12.27,-0.74,391.50
$IRIDIUM_FIX,2213.68,-15743.78,060997,151508
$TT8_MAMPS,0.026078
$HUMID,1617
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,21.30
$XPDR_PINGS,381
$24V_AH,23.8,23.890
$10V_AH,10.2,14.896
$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,28.000,105.200,556.650,0.000,0.000,81.218,161.729,172.712,105.500,0.000,0.000,31.704,801.357,4261.471,618.965,1489.056,541.703,0.000,1207.986,0.000,1446.788,0.000,64.372
$DEVICE_MAMPS,175.643,118.885,901.992,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,271.058,239.665,340.757,440.206,929.651,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31862,395
$CAP_FILE_SIZE,78255,0
$CFSIZE,260165632,252063744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120608,165837,2222.581,-15742.763,10,1.0,26,10.0