version: 66.03
glider: 146
mission: 2
dive: 142
start: 6 12 108 19 7 21
data:
$ID,146
$MISSION,2
$DIVE,142
$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,-7325.0732
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,190247,2223.449,-15743.370,12,99.0,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,190659,2223.436,-15743.361,11,99.0,30,10.0
$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,311.6,15520,-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,-292.0,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,474,1769,2845
$GC,90,-1.33,-292.0,3.3,-5.8,9,137,12.60,2.30,-22.95,0.000,4,0.160,0.040,2864,3197,3955
$GC,226,-1.33,-292.0,32.1,-18.7,30,230,0.00,2.22,0.00,0.000,6,0.000,0.036,2864,1818,3957
$GC,425,-1.33,-292.0,79.6,-21.7,48,433,0.00,2.50,0.00,0.000,4,0.000,0.085,2864,400,3957
$GC,485,-1.33,-292.0,93.9,-23.3,53,489,0.00,2.20,0.00,0.000,6,0.000,0.031,2864,1810,3957
$GC,685,-1.33,-292.0,134.0,-19.3,71,690,0.00,2.50,0.00,0.000,4,0.000,0.082,2864,404,3958
$GC,715,-1.33,-292.0,139.8,-18.4,73,720,0.00,2.17,0.00,0.000,6,0.000,0.035,2864,1805,3958
$GC,917,-1.33,-292.0,174.1,-16.8,92,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1807,3959
$GC,1118,-1.33,-292.0,203.9,-14.9,110,1122,0.00,2.53,0.00,0.000,4,0.000,0.088,2864,404,3959
$GC,1166,-1.33,-292.0,211.8,-16.1,112,1170,0.00,2.25,0.00,0.000,6,0.000,0.042,2864,1783,3959
$GC,1364,-1.33,-292.0,241.1,-14.5,122,1368,0.00,2.25,0.00,0.000,4,0.000,0.033,2864,3202,3960
$GC,1382,-1.33,-292.0,243.3,-13.7,123,1387,0.00,2.25,0.00,0.000,6,0.000,0.035,2864,1804,3960
$GC,1589,-1.33,-292.0,272.7,-14.1,133,1593,0.00,2.58,0.00,0.000,4,0.000,0.101,2864,402,3960
$GC,1629,-1.33,-292.0,279.1,-15.9,135,1637,0.00,2.28,0.00,0.000,6,0.000,0.048,2864,1789,3960
$GC,1860,-1.33,-292.0,312.3,-14.6,144,1864,0.00,2.55,0.00,0.000,4,0.000,0.100,2864,402,3960
$GC,1885,-1.33,-292.0,316.5,-15.5,144,1890,0.00,2.33,0.00,0.000,6,0.000,0.051,2864,1789,3960
$GC,2100,-1.33,-292.0,347.2,-14.3,150,2104,0.00,2.33,0.00,0.000,4,0.000,0.051,2864,3204,3960
$GC,2122,-1.33,-292.0,350.2,-14.0,150,2126,0.00,2.33,0.00,0.000,6,0.000,0.047,2864,1802,3960
$GC,2337,-1.33,-292.0,378.2,-13.0,156,2341,0.00,2.65,0.00,0.000,4,0.000,0.114,2864,395,3960
$GC,2420,-1.33,-292.0,388.9,-11.7,158,2424,0.00,2.38,0.00,0.000,6,0.000,0.058,2864,1799,3960
$GC,2621,-1.33,-292.0,412.2,-11.6,163,2626,0.00,2.62,0.00,0.000,4,0.000,0.109,2864,396,3960
$GC,2648,-1.33,-292.0,415.4,-11.8,163,2653,0.00,2.38,0.00,0.000,6,0.000,0.064,2864,1797,3960
$GC,2863,-1.33,-292.0,438.9,-11.1,169,2868,0.00,2.65,0.00,0.000,4,0.000,0.111,2864,393,3960
$GC,2902,-1.33,-292.0,443.3,-11.2,170,2907,0.00,2.42,0.00,0.000,6,0.000,0.063,2864,1807,3960
$GC,3104,-1.33,-292.0,465.1,-10.9,175,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1808,3959
$STATE,3265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3265,begin apogee
$GC,3270,-0.31,0.0,483.7,11.5,179,3510,1.00,0.00,236.27,0.902,6,0.080,0.000,3089,1854,2774
$STATE,3510,end apogee,CONTROL_FINISHED_OK
$STATE,3511,begin climb
$GC,3512,1.33,292.0,498.4,0.0,185,3760,1.52,2.55,237.93,0.878,4,0.043,0.077,3459,3259,1583
$GC,3781,1.33,292.0,471.9,17.1,191,3785,0.00,2.45,0.00,0.000,6,0.000,0.058,3458,1859,1580
$GC,3996,1.33,292.0,435.5,17.0,197,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1858,1575
$GC,4199,1.33,292.0,400.8,17.1,202,4203,0.00,2.72,0.00,0.000,4,0.000,0.119,3459,434,1574
$GC,4219,1.33,292.0,396.9,18.7,202,4224,0.00,2.40,0.00,0.000,6,0.000,0.056,3459,1848,1572
$GC,4440,1.33,292.0,358.8,17.1,208,4444,0.00,2.58,0.00,0.000,4,0.000,0.087,3459,434,1571
$GC,4482,1.33,292.0,351.0,17.9,209,4487,0.00,2.38,0.00,0.000,6,0.000,0.049,3459,1852,1570
$GC,4685,1.33,292.0,318.6,15.8,214,4689,0.00,2.30,0.00,0.000,4,0.000,0.047,3458,3261,1570
$GC,4723,1.33,292.0,313.2,14.1,215,4728,0.00,2.35,0.00,0.000,6,0.000,0.041,3459,1839,1569
$GC,4926,1.33,292.0,282.8,15.0,222,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1839,1568
$GC,5114,1.33,292.0,254.0,15.4,231,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1839,1567
$GC,5297,1.33,292.2,228.7,13.3,240,5301,0.00,2.30,0.00,0.000,4,0.000,0.043,3459,3256,1566
$GC,5330,1.35,302.3,224.3,13.0,241,5341,0.00,2.33,6.95,0.636,6,0.000,0.037,3458,1849,1542
$GC,5528,1.35,302.3,195.2,15.2,252,5532,0.00,2.47,0.00,0.000,4,0.000,0.080,3458,448,1541
$GC,5572,1.35,302.3,187.8,17.3,256,5576,0.00,2.28,0.00,0.000,6,0.000,0.042,3459,1870,1539
$GC,5768,1.35,302.3,158.4,14.0,274,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1871,1539
$GC,5962,1.35,302.3,130.6,14.1,292,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1871,1538
$GC,6153,1.35,302.3,102.6,13.8,310,6157,0.00,2.47,0.00,0.000,4,0.000,0.070,3458,442,1538
$GC,6177,1.35,302.3,98.9,15.8,312,6181,0.00,2.22,0.00,0.000,6,0.000,0.028,3459,1855,1537
$GC,6377,1.38,333.1,72.8,12.4,330,6415,0.00,2.53,27.50,0.603,4,0.000,0.074,3459,449,1415
$GC,6442,1.38,333.1,63.5,14.8,335,6451,0.00,2.25,0.00,0.000,6,0.000,0.035,3459,1849,1414
$GC,6642,1.39,334.6,37.7,13.3,354,6646,0.00,2.22,0.00,0.000,4,0.000,0.038,3459,3251,1412
$GC,6663,1.39,340.0,34.5,13.2,355,6675,0.00,2.28,7.25,0.492,6,0.000,0.036,3459,1846,1387
$GC,6873,1.39,340.0,8.9,13.4,390,6882,0.00,2.42,0.00,0.000,4,0.000,0.067,3459,449,1385
$GC,6901,1.41,352.9,5.4,12.9,394,6923,0.00,2.20,12.05,0.509,6,0.000,0.023,3459,1857,1334
$STATE,6929,end climb,SURFACE_DEPTH_REACHED
$STATE,6930,begin surface coast
$FINISH,0.6,1.010431
$STATE,6953,end surface coast,CONTROL_FINISHED_OK
$STATE,6953,begin surface
$SM_CCo,7033,0.00,0.000,0,0,1328,354.95
$SM_GC,1.36,12.23,0.00,0.00,0.031,0.000,0.000,474,1773,1328,-12.25,-0.76,354.95
$IRIDIUM_FIX,2213.68,-15743.78,060997,171737
$TT8_MAMPS,0.026078
$HUMID,1617
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,21.50
$XPDR_PINGS,375
$24V_AH,23.8,24.195
$10V_AH,10.2,15.073
$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,27.350,100.525,527.950,0.000,0.000,28.849,26.431,94.307,104.000,0.000,0.000,32.984,819.027,4094.643,570.189,1540.852,271.526,0.000,1188.122,0.000,1496.593,0.000,64.720
$DEVICE_MAMPS,159.536,118.885,901.992,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.611,248.311,349.003,452.259,953.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31857,402
$CAP_FILE_SIZE,77247,0
$CFSIZE,260165632,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120608,210537,2224.472,-15743.950,28,1.1,28,10.0