version: 66.03
glider: 146
mission: 2
dive: 155
start: 6 14 108 3 52 54
data:
$ID,146
$MISSION,2
$DIVE,155
$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,-7636.5356
$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,35
$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
$GPS1,034753,2241.349,-15747.344,9,4.4,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.1
$GPS2,035235,2241.345,-15747.325,13,99.0,32,10.1
$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,336.8,12652,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.09,-292.0,0.0,0.0,0,95,0.00,0.00,-75.00,0.000,2,0.000,0.000,474,1696,2828
$GC,97,-1.09,-292.0,3.5,-7.4,10,145,12.90,2.28,-23.12,0.000,4,0.163,0.039,2896,3111,3954
$GC,228,-1.09,-292.0,28.3,-15.1,31,237,0.00,2.25,0.00,0.000,6,0.000,0.036,2896,1731,3956
$GC,436,-1.09,-292.0,68.1,-19.2,51,440,0.00,2.47,0.00,0.000,4,0.000,0.077,2896,310,3956
$GC,487,-1.09,-292.0,77.5,-17.2,55,491,0.00,2.20,0.00,0.000,6,0.000,0.028,2896,1722,3956
$GC,686,-1.09,-292.0,111.7,-15.9,73,690,0.00,2.15,0.00,0.000,4,0.000,0.025,2896,3110,3957
$GC,717,-1.09,-292.0,117.0,-14.7,75,727,0.00,2.28,0.00,0.000,6,0.000,0.041,2896,1714,3957
$GC,917,-1.09,-292.0,145.1,-13.8,94,922,0.00,2.47,0.00,0.000,4,0.000,0.084,2896,318,3957
$GC,972,-1.09,-292.0,153.8,-13.8,98,981,0.00,2.22,0.00,0.000,6,0.000,0.035,2896,1708,3958
$GC,1171,-1.09,-292.0,178.1,-11.6,117,1175,0.00,2.20,0.00,0.000,4,0.000,0.028,2896,3121,3958
$GC,1197,-1.09,-292.0,181.6,-11.7,119,1204,0.00,2.28,0.00,0.000,6,0.000,0.032,2896,1724,3958
$GC,1408,-1.09,-292.0,206.3,-13.0,137,1412,0.00,2.55,0.00,0.000,4,0.000,0.093,2896,312,3958
$GC,1448,-1.09,-292.0,212.1,-14.4,139,1452,0.00,2.22,0.00,0.000,6,0.000,0.038,2896,1709,3959
$GC,1660,-1.09,-292.0,236.6,-11.4,149,1664,0.00,2.22,0.00,0.000,4,0.000,0.034,2896,3114,3959
$GC,1676,-1.09,-292.0,238.9,-11.4,150,1680,0.00,2.28,0.00,0.000,6,0.000,0.035,2896,1712,3959
$GC,1879,-1.09,-292.0,262.0,-12.1,160,1883,0.00,2.55,0.00,0.000,4,0.000,0.099,2896,316,3959
$GC,1897,-1.09,-292.0,264.1,-12.3,161,1901,0.00,2.25,0.00,0.000,6,0.000,0.040,2896,1709,3959
$GC,2103,-1.09,-292.0,290.1,-12.9,171,2108,0.00,2.55,0.00,0.000,4,0.000,0.095,2896,310,3959
$GC,2124,-1.09,-292.0,293.4,-12.2,172,2129,0.00,2.30,0.00,0.000,6,0.000,0.042,2896,1703,3959
$GC,2346,-1.09,-292.0,318.2,-11.1,179,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1704,3959
$GC,2548,-1.09,-292.0,339.7,-10.4,184,2553,0.00,2.55,0.00,0.000,4,0.000,0.099,2896,315,3959
$GC,2580,-1.09,-292.0,343.2,-11.1,184,2584,0.00,2.33,0.00,0.000,6,0.000,0.049,2896,1701,3959
$GC,2795,-1.09,-292.0,365.4,-10.5,190,2799,0.00,2.38,0.00,0.000,4,0.000,0.055,2896,3126,3958
$GC,2815,-1.09,-292.0,367.7,-10.9,190,2820,0.00,2.38,0.00,0.000,6,0.000,0.052,2896,1720,3958
$GC,3036,-1.09,-292.0,390.2,-10.3,196,3041,0.00,2.67,0.00,0.000,4,0.000,0.116,2896,308,3958
$GC,3075,-1.09,-292.0,394.4,-10.5,197,3079,0.00,2.35,0.00,0.000,6,0.000,0.052,2896,1717,3958
$GC,3276,-1.09,-292.0,414.1,-9.7,202,3280,0.00,2.62,0.00,0.000,4,0.000,0.111,2896,308,3957
$GC,3297,-1.09,-292.0,416.3,-9.9,202,3301,0.00,2.33,0.00,0.000,6,0.000,0.053,2896,1714,3957
$GC,3518,-1.09,-292.0,437.2,-9.5,208,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1716,3956
$GC,3720,-1.09,-292.0,456.2,-9.3,213,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1716,3955
$GC,3924,-1.09,-292.0,473.9,-8.6,218,3928,0.00,2.65,0.00,0.000,4,0.000,0.118,2896,310,3954
$GC,3956,-1.09,-292.0,476.8,-9.4,218,3962,0.00,2.38,0.00,0.000,6,0.000,0.061,2896,1707,3954
$STATE,4003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4003,begin apogee
$GC,4007,-0.31,0.0,480.5,8.1,220,4246,0.77,0.00,234.75,0.908,6,0.077,0.000,3071,1769,2775
$STATE,4246,end apogee,CONTROL_FINISHED_OK
$STATE,4246,begin climb
$GC,4248,1.09,292.0,491.2,0.0,226,4495,1.30,2.70,237.43,0.880,4,0.061,0.104,3379,356,1584
$GC,4590,1.09,292.0,457.4,14.8,234,4594,0.00,2.45,0.00,0.000,6,0.000,0.056,3378,1762,1577
$GC,4787,1.09,292.0,431.1,13.2,239,4791,0.00,2.45,0.00,0.000,4,0.000,0.071,3378,3179,1574
$GC,4842,1.09,292.0,424.2,12.0,240,4846,0.00,2.42,0.00,0.000,6,0.000,0.061,3379,1769,1572
$GC,5033,1.09,292.0,400.7,12.3,245,5037,0.00,2.67,0.00,0.000,4,0.000,0.116,3379,356,1572
$GC,5059,1.09,292.0,397.1,13.8,245,5063,0.00,2.38,0.00,0.000,6,0.000,0.045,3379,1777,1570
$GC,5274,1.09,292.0,370.6,12.3,251,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1778,1570
$GC,5477,1.09,292.0,344.8,12.7,256,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1778,1569
$GC,5680,1.09,292.0,320.4,12.0,261,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1778,1568
$GC,5883,1.09,292.0,297.8,11.1,266,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1778,1568
$GC,6071,1.09,292.0,277.5,10.7,275,6075,0.00,2.25,0.00,0.000,4,0.000,0.043,3379,3174,1566
$GC,6086,1.09,292.0,275.5,10.4,275,6093,0.00,2.35,0.00,0.000,6,0.000,0.044,3379,1760,1566
$GC,6280,1.09,292.0,255.1,11.1,285,6284,0.00,2.50,0.00,0.000,4,0.000,0.087,3379,363,1565
$GC,6307,1.09,292.0,251.4,12.8,286,6311,0.00,2.28,0.00,0.000,6,0.000,0.040,3379,1774,1564
$GC,6504,1.09,292.0,229.2,11.2,296,6508,0.00,2.22,0.00,0.000,4,0.000,0.041,3379,3164,1564
$GC,6536,1.09,292.0,225.4,11.3,297,6543,0.00,2.33,0.00,0.000,6,0.000,0.040,3379,1761,1563
$GC,6730,1.09,292.0,203.6,11.4,307,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1761,1563
$GC,6920,1.09,292.0,181.5,11.8,323,6924,0.00,2.25,0.00,0.000,4,0.000,0.032,3379,3168,1563
$GC,6967,1.09,292.0,176.0,12.0,327,6971,0.00,2.30,0.00,0.000,6,0.000,0.042,3379,1756,1562
$GC,7166,1.09,292.0,151.0,13.0,345,7169,0.00,2.28,0.00,0.000,4,0.000,0.033,3378,3175,1562
$GC,7201,1.09,292.0,146.3,13.8,348,7205,0.00,2.28,0.00,0.000,6,0.000,0.035,3378,1764,1561
$GC,7405,1.09,292.0,122.8,10.0,367,7409,0.00,2.45,0.00,0.000,4,0.000,0.077,3379,365,1562
$GC,7457,1.09,295.7,117.3,9.9,371,7462,0.00,2.20,0.00,0.000,6,0.000,0.034,3379,1772,1560
$GC,7657,1.19,375.9,100.3,8.1,389,7733,0.00,2.28,68.78,0.637,4,0.000,0.037,3379,3159,1240
$GC,7747,1.20,381.6,92.3,9.9,396,7761,0.00,2.28,5.88,0.489,6,0.000,0.036,3379,1764,1219
$GC,7952,1.22,399.0,72.7,9.6,415,7972,0.12,0.00,15.80,0.576,6,0.060,0.000,3415,1764,1147
$GC,8162,1.22,399.0,47.9,11.7,435,8167,0.00,2.45,0.00,0.000,4,0.000,0.078,3415,360,1144
$GC,8238,1.22,399.0,37.8,12.5,441,8247,0.00,2.22,0.00,0.000,6,0.000,0.025,3415,1770,1144
$GC,8441,1.22,399.0,15.4,10.2,472,8450,0.00,2.50,0.00,0.000,4,0.000,0.080,3415,364,1144
$GC,8458,1.22,399.0,13.5,10.9,474,8466,0.00,2.20,0.00,0.000,6,0.000,0.021,3415,1786,1144
$STATE,8548,end climb,SURFACE_DEPTH_REACHED
$STATE,8548,begin surface coast
$FINISH,0.5,1.018638
$STATE,8572,end surface coast,CONTROL_FINISHED_OK
$STATE,8572,begin surface
$SM_CCo,8652,0.00,0.000,0,0,1139,401.31
$SM_GC,1.23,11.95,0.00,0.00,0.028,0.000,0.000,470,1696,1139,-12.18,-0.54,401.31
$IRIDIUM_FIX,2230.01,-15748.50,080997,010121
$TT8_MAMPS,0.026078
$HUMID,1596
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,22.10
$XPDR_PINGS,435
$24V_AH,23.8,26.323
$10V_AH,10.2,16.443
$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,27.050,123.250,562.625,0.000,0.000,28.633,38.567,107.143,119.000,0.000,0.000,34.602,974.310,5177.894,614.469,1851.812,321.118,0.000,1349.524,0.000,1804.848,0.000,64.377
$DEVICE_MAMPS,162.604,118.118,908.128,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.959,305.257,431.708,557.174,1176.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38132,494
$CAP_FILE_SIZE,89819,0
$CFSIZE,260165632,251359232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,140608,061808,2242.628,-15747.630,28,0.8,28,10.1