version: 66.03
glider: 146
mission: 2
dive: 144
start: 6 12 108 23 43 52
data:
$ID,146
$MISSION,2
$DIVE,144
$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,160
$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,320
$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,-7374.7969
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3140
$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,1715
$C_ROLL_CLIMB,1765
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,56
$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
$GPS1,233853,2226.029,-15743.810,10,2.4,29,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.3
$GPS2,234334,2226.041,-15743.809,11,2.8,30,10.0
$SPEED_LIMITS,0.143,0.350
$TGT_NAME,PUMP70
$TGT_LATLONG,2248.000,-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,337.7,41622,-11.7,-10.000
$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,18,-1.09,-292.0,0.0,0.0,0,88,0.00,0.00,-67.97,0.000,2,0.000,0.000,476,1689,2825
$GC,90,-1.09,-292.0,3.4,-6.8,9,138,13.05,2.28,-23.50,0.000,4,0.169,0.040,2896,3101,3954
$GC,249,-1.09,-292.0,33.0,-16.8,34,253,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,1735,3956
$GC,454,-1.09,-292.0,75.7,-21.2,53,458,0.00,2.53,0.00,0.000,4,0.000,0.090,2896,314,3956
$GC,505,-1.09,-292.0,87.6,-23.2,57,509,0.00,2.20,0.00,0.000,6,0.000,0.032,2896,1719,3956
$GC,704,-1.09,-292.0,124.3,-17.3,75,708,0.00,2.50,0.00,0.000,4,0.000,0.087,2896,318,3958
$GC,733,-1.09,-292.0,129.2,-16.9,77,741,0.00,2.20,0.00,0.000,6,0.000,0.035,2896,1726,3957
$GC,938,-1.09,-292.0,160.0,-14.5,96,942,0.00,2.17,0.00,0.000,4,0.000,0.027,2896,3109,3958
$GC,969,-1.09,-292.0,164.6,-13.2,98,979,0.00,2.28,0.00,0.000,6,0.000,0.035,2896,1721,3958
$GC,1171,-1.09,-292.0,190.9,-13.7,117,1176,0.00,2.55,0.00,0.000,4,0.000,0.093,2896,310,3959
$GC,1232,-1.09,-292.0,200.0,-13.0,122,1240,0.00,2.25,0.00,0.000,6,0.000,0.043,2896,1712,3959
$GC,1431,-1.09,-292.0,224.5,-12.4,132,1435,0.00,2.20,0.00,0.000,4,0.000,0.029,2896,3110,3959
$GC,1452,-1.09,-292.0,227.3,-12.8,133,1456,0.00,2.30,0.00,0.000,6,0.000,0.035,2896,1712,3959
$GC,1660,-1.09,-292.0,251.0,-11.8,143,1664,0.00,2.55,0.00,0.000,4,0.000,0.100,2896,316,3958
$GC,1730,-1.09,-292.0,259.9,-11.4,146,1736,0.00,2.30,0.00,0.000,6,0.000,0.057,2896,1700,3959
$GC,1928,-1.09,-292.0,280.3,-10.4,156,1932,0.00,2.30,0.00,0.000,4,0.000,0.043,2896,3118,3959
$GC,1955,-1.09,-292.0,283.3,-10.4,157,1960,0.00,2.33,0.00,0.000,6,0.000,0.042,2896,1724,3959
$GC,2152,-1.09,-292.0,304.5,-11.0,166,2157,0.00,2.65,0.00,0.000,4,0.000,0.110,2896,306,3959
$GC,2167,-1.09,-292.0,306.3,-11.1,166,2171,0.00,2.35,0.00,0.000,6,0.000,0.055,2896,1717,3959
$GC,2393,-1.09,-292.0,329.7,-10.2,172,2397,0.00,2.30,0.00,0.000,4,0.000,0.046,2896,3124,3959
$GC,2437,-1.09,-292.0,333.5,-8.0,173,2442,0.00,2.33,0.00,0.000,6,0.000,0.049,2896,1716,3959
$GC,2640,-1.09,-292.0,350.5,-8.6,178,2644,0.00,2.65,0.00,0.000,4,0.000,0.114,2896,309,3959
$GC,2683,-1.09,-292.0,354.9,-9.4,179,2687,0.00,2.35,0.00,0.000,6,0.000,0.054,2896,1713,3959
$GC,2885,-1.09,-292.0,374.7,-10.0,184,2889,0.00,2.62,0.00,0.000,4,0.000,0.107,2896,309,3958
$GC,2916,-1.09,-292.0,378.3,-11.0,184,2923,0.00,2.40,0.00,0.000,6,0.000,0.057,2896,1713,3959
$GC,3126,-1.09,-292.0,399.9,-10.3,190,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1713,3958
$GC,3330,-1.09,-292.0,420.4,-10.2,195,3334,0.00,2.65,0.00,0.000,4,0.000,0.114,2896,309,3957
$GC,3362,-1.09,-292.0,423.8,-9.9,195,3368,0.00,2.38,0.00,0.000,6,0.000,0.068,2896,1713,3957
$GC,3572,-1.09,-292.0,442.7,-8.8,201,3576,0.00,2.42,0.00,0.000,4,0.000,0.069,2896,3125,3956
$GC,3592,-1.09,-292.0,444.5,-8.4,201,3597,0.00,2.40,0.00,0.000,6,0.000,0.061,2896,1720,3956
$GC,3814,-1.09,-292.0,462.1,-8.0,207,3818,0.00,2.80,0.00,0.000,4,0.000,0.141,2896,310,3955
$GC,3846,-1.09,-292.0,465.0,-8.8,207,3852,0.00,2.40,0.00,0.000,6,0.000,0.070,2896,1719,3955
$STATE,4055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4055,begin apogee
$GC,4060,-0.31,0.0,482.7,8.5,213,4299,0.77,0.00,235.27,0.911,6,0.077,0.000,3072,1768,2775
$STATE,4299,end apogee,CONTROL_FINISHED_OK
$STATE,4300,begin climb
$GC,4301,1.09,292.0,496.4,0.0,219,4549,1.30,2.72,238.27,0.888,4,0.050,0.110,3379,358,1583
$GC,4570,1.09,292.0,476.4,15.1,225,4575,0.00,2.47,0.00,0.000,6,0.000,0.062,3379,1759,1580
$GC,4785,1.09,292.0,447.6,13.4,231,4789,0.00,2.47,0.00,0.000,4,0.000,0.073,3379,3179,1576
$GC,4835,1.09,292.0,441.2,12.1,232,4839,0.00,2.45,0.00,0.000,6,0.000,0.061,3379,1763,1573
$GC,5030,1.09,292.0,415.8,13.0,237,5034,0.00,2.75,0.00,0.000,4,0.000,0.128,3379,354,1572
$GC,5062,1.09,292.0,411.2,14.3,237,5068,0.00,2.42,0.00,0.000,6,0.000,0.057,3379,1770,1571
$GC,5271,1.09,292.0,385.0,12.5,243,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1771,1570
$GC,5474,1.09,292.0,360.8,11.9,248,5478,0.00,2.60,0.00,0.000,4,0.000,0.093,3379,355,1569
$GC,5528,1.09,292.0,353.9,12.1,249,5532,0.00,2.38,0.00,0.000,6,0.000,0.055,3379,1769,1567
$GC,5719,1.09,292.0,332.9,11.0,254,5723,0.00,2.60,0.00,0.000,4,0.000,0.094,3379,351,1568
$GC,5757,1.09,292.0,328.3,11.4,255,5761,0.00,2.35,0.00,0.000,6,0.000,0.054,3379,1769,1566
$GC,5959,1.09,292.0,306.5,10.7,260,5963,0.00,2.28,0.00,0.000,4,0.000,0.039,3379,3172,1566
$GC,5985,1.09,292.0,303.5,11.6,260,5990,0.00,2.33,0.00,0.000,6,0.000,0.039,3379,1763,1566
$GC,6184,1.09,292.0,280.4,11.7,269,6188,0.00,2.30,0.00,0.000,4,0.000,0.035,3379,3176,1566
$GC,6211,1.09,292.0,277.0,12.0,270,6215,0.00,2.35,0.00,0.000,6,0.000,0.041,3379,1764,1565
$GC,6409,1.09,292.0,254.3,11.4,280,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1763,1564
$GC,6596,1.09,292.0,233.5,11.3,289,6601,0.00,2.50,0.00,0.000,4,0.000,0.087,3379,364,1563
$GC,6637,1.09,292.0,228.5,13.0,291,6642,0.00,2.28,0.00,0.000,6,0.000,0.045,3379,1775,1562
$GC,6842,1.09,292.0,206.4,10.2,301,6846,0.00,2.22,0.00,0.000,4,0.000,0.033,3379,3169,1562
$GC,6888,1.09,292.0,201.7,10.3,303,6893,0.00,2.30,0.00,0.000,6,0.000,0.035,3379,1758,1561
$GC,7088,1.09,292.0,182.1,10.1,321,7092,0.00,2.50,0.00,0.000,4,0.000,0.086,3379,363,1561
$GC,7125,1.09,292.0,177.5,11.5,324,7135,0.00,2.25,0.00,0.000,6,0.000,0.037,3379,1767,1560
$GC,7325,1.09,292.0,156.2,10.8,343,7329,0.00,2.22,0.00,0.000,4,0.000,0.033,3379,3162,1560
$GC,7363,1.09,292.0,151.9,10.6,346,7372,0.00,2.28,0.00,0.000,6,0.000,0.035,3379,1765,1560
$GC,7563,1.09,292.0,132.0,10.2,365,7567,0.00,2.22,0.00,0.000,4,0.000,0.032,3379,3159,1560
$GC,7583,1.09,295.8,129.6,9.9,366,7593,0.00,2.28,0.00,0.000,6,0.000,0.040,3379,1761,1560
$GC,7784,1.21,388.2,113.1,7.9,385,7875,0.10,2.55,79.12,0.642,4,0.067,0.077,3409,369,1191
$GC,7889,1.21,388.2,102.0,12.2,394,7893,0.00,2.20,0.00,0.000,6,0.000,0.027,3409,1765,1190
$GC,8088,1.21,388.2,77.8,12.4,412,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1767,1186
$GC,8278,1.21,388.2,55.1,11.3,430,8282,0.00,2.45,0.00,0.000,4,0.000,0.074,3409,369,1185
$GC,8343,1.21,388.2,46.7,12.8,435,8352,0.00,2.20,0.00,0.000,6,0.000,0.033,3409,1759,1183
$GC,8543,1.21,388.2,26.1,10.4,457,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1760,1183
$GC,8749,1.21,388.2,3.9,10.2,494,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1761,1183
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8763,begin surface coast
$FINISH,0.6,1.010976
$STATE,8792,end surface coast,CONTROL_FINISHED_OK
$STATE,8792,begin surface
$SM_CCo,8872,0.00,0.000,0,0,1178,391.25
$SM_GC,1.36,11.93,0.00,0.00,0.029,0.000,0.000,467,1687,1178,-12.19,-0.79,391.25
$IRIDIUM_FIX,2216.01,-15745.94,060997,212141
$TT8_MAMPS,0.026078
$HUMID,1568
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,22.30
$XPDR_PINGS,437
$24V_AH,23.7,24.517
$10V_AH,10.2,15.283
$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,27.150,138.900,552.675,0.000,0.000,26.355,27.238,122.510,119.500,0.000,0.000,32.912,999.654,5290.712,629.318,1916.622,321.592,0.000,1396.374,0.000,1870.709,0.000,64.390
$DEVICE_MAMPS,168.740,141.128,911.196,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.486,305.671,433.866,557.184,1176.648,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38167,501
$CAP_FILE_SIZE,94935,0
$CFSIZE,260165632,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,130608,021256,2227.358,-15743.689,38,1.7,38,10.0