version: 66.03
glider: 146
mission: 2
dive: 166
start: 6 15 108 6 56 10
data:
$ID,146
$MISSION,2
$DIVE,166
$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,-7875.4478
$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,1825
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,22
$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
$GPS1,065007,2247.597,-15749.031,35,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,065551,2247.551,-15749.062,12,1.6,12,10.1
$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,357.2,838,-32.6,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,75,0.00,0.00,-53.42,0.000,2,0.000,0.000,473,1815,2824
$GC,77,-2.12,-72.3,3.2,-5.8,7,101,11.88,2.30,-5.43,0.000,4,0.166,0.043,2690,3258,3071
$GC,262,-2.12,-72.3,49.1,-23.3,32,266,0.00,2.30,0.00,0.000,6,0.000,0.030,2690,1819,3075
$GC,461,-2.12,-72.3,87.7,-19.5,50,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1819,3076
$GC,652,-2.12,-72.3,125.6,-19.3,68,656,0.00,2.28,0.00,0.000,4,0.000,0.028,2690,3255,3077
$GC,702,-2.12,-72.3,135.3,-18.1,72,707,0.00,2.30,0.00,0.000,6,0.000,0.029,2690,1818,3077
$GC,899,-2.12,-72.3,166.4,-15.5,90,903,0.00,2.28,0.00,0.000,4,0.000,0.029,2690,3248,3078
$GC,931,-2.12,-72.3,171.4,-15.7,92,940,0.00,2.28,0.00,0.000,6,0.000,0.027,2690,1829,3079
$GC,1141,-2.12,-72.3,204.4,-16.7,111,1145,0.00,2.28,0.00,0.000,4,0.000,0.033,2690,3252,3080
$GC,1342,-2.12,-72.3,239.0,-14.5,120,1347,0.00,2.33,0.00,0.000,6,0.000,0.034,2690,1827,3080
$GC,1545,-2.12,-72.3,265.4,-12.3,130,1549,0.00,2.28,0.00,0.000,4,0.000,0.037,2690,3244,3081
$GC,1594,-2.12,-72.3,271.4,-11.8,132,1598,0.00,2.33,0.00,0.000,6,0.000,0.035,2690,1828,3081
$GC,1791,-2.12,-72.3,294.2,-11.5,142,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1827,3082
$GC,1974,-2.12,-72.3,315.8,-11.6,148,1979,0.00,2.30,0.00,0.000,4,0.000,0.042,2690,3240,3082
$GC,2007,-2.12,-72.3,319.9,-11.8,148,2014,0.00,2.35,0.00,0.000,6,0.000,0.041,2690,1831,3082
$GC,2216,-2.12,-72.3,345.3,-12.5,154,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1829,3081
$GC,2420,-2.12,-72.3,372.1,-13.3,159,2424,0.00,2.33,0.00,0.000,4,0.000,0.048,2690,3237,3080
$GC,2577,-2.12,-72.3,394.8,-14.4,162,2581,0.00,2.38,0.00,0.000,6,0.000,0.054,2690,1829,3079
$GC,2791,-2.12,-72.3,425.5,-14.2,168,2795,0.00,2.35,0.00,0.000,4,0.000,0.053,2690,3236,3078
$GC,2818,-2.12,-72.3,429.7,-15.7,168,2823,0.00,2.40,0.00,0.000,6,0.000,0.061,2690,1825,3078
$GC,3032,-2.12,-72.3,458.4,-13.1,174,3036,0.00,2.38,0.00,0.000,4,0.000,0.066,2690,3231,3075
$GC,3086,-2.12,-72.3,465.4,-12.8,175,3091,0.00,2.38,0.00,0.000,6,0.000,0.061,2690,1827,3076
$STATE,3236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3236,begin apogee
$GC,3241,-0.31,0.0,483.6,12.0,179,3307,1.88,0.00,62.20,0.907,6,0.103,0.000,3091,1798,2775
$STATE,3308,end apogee,CONTROL_FINISHED_OK
$STATE,3308,begin climb
$GC,3309,2.12,72.3,485.0,0.0,180,3375,2.22,0.00,60.58,0.884,6,0.041,0.000,3625,1797,2480
$GC,3560,2.12,72.3,462.6,10.9,187,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1797,2476
$GC,3763,2.12,72.3,441.7,10.2,192,3767,0.00,2.38,0.00,0.000,4,0.000,0.056,3626,3206,2474
$GC,4020,2.14,86.1,418.9,7.9,197,4037,0.00,2.35,11.70,0.802,6,0.000,0.052,3626,1799,2423
$GC,4233,2.14,86.1,396.7,10.8,203,4237,0.00,2.35,0.00,0.000,4,0.000,0.048,3626,3221,2421
$GC,4338,2.14,86.1,384.8,11.0,205,4342,0.00,2.38,0.00,0.000,6,0.000,0.045,3626,1799,2420
$GC,4564,2.14,86.1,360.6,10.7,211,4568,0.00,2.30,0.00,0.000,4,0.000,0.039,3625,3218,2418
$GC,4736,2.14,86.1,341.6,10.7,214,4743,0.00,2.35,0.00,0.000,6,0.000,0.048,3626,1798,2417
$GC,4945,2.14,86.1,320.0,10.5,220,4949,0.00,2.30,0.00,0.000,4,0.000,0.041,3626,3218,2417
$GC,5202,2.16,98.6,295.3,8.1,226,5219,0.00,2.33,10.43,0.747,6,0.000,0.044,3625,1803,2371
$GC,5420,2.16,100.4,274.7,9.7,237,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1803,2370
$GC,5603,2.16,101.8,256.7,9.8,246,5612,0.00,2.35,3.80,0.508,4,0.000,0.036,3625,3221,2360
$GC,5662,2.16,101.8,250.6,10.1,248,5672,0.00,2.35,0.00,0.000,6,0.000,0.035,3625,1800,2359
$GC,5855,2.18,116.8,234.5,7.7,258,5878,0.00,2.38,13.85,0.733,4,0.000,0.043,3626,3222,2298
$GC,6060,2.20,131.7,217.5,7.8,267,6082,0.00,2.30,13.48,0.714,6,0.000,0.043,3626,1797,2237
$GC,6267,2.20,131.7,196.9,10.4,278,6271,0.00,2.30,0.00,0.000,4,0.000,0.037,3626,3227,2235
$GC,6311,2.20,131.7,192.2,10.9,282,6315,0.00,2.30,0.00,0.000,6,0.000,0.035,3626,1802,2235
$GC,6507,2.20,131.7,170.0,10.3,300,6511,0.00,2.30,0.00,0.000,4,0.000,0.035,3625,3223,2233
$GC,6763,2.20,131.7,144.2,11.4,322,6772,0.00,2.33,0.00,0.000,6,0.000,0.036,3625,1797,2233
$GC,6963,2.20,131.7,122.9,10.2,341,6967,0.00,2.30,0.00,0.000,4,0.000,0.041,3625,3221,2233
$GC,7216,2.22,153.1,103.4,6.8,363,7241,0.00,2.30,18.23,0.625,6,0.000,0.040,3626,1799,2150
$GC,7441,2.23,155.8,84.0,9.6,384,7445,0.00,2.28,0.00,0.000,4,0.000,0.034,3626,3222,2148
$GC,7499,2.23,155.8,77.7,11.9,389,7503,0.00,2.30,0.00,0.000,6,0.000,0.035,3626,1790,2148
$GC,7697,2.23,155.8,54.2,11.5,407,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1789,2148
$GC,7889,2.25,176.7,36.5,6.9,425,7916,0.10,2.33,20.42,0.563,4,0.076,0.035,3652,3227,2054
$GC,8164,2.25,176.7,9.9,10.7,467,8172,0.00,2.33,0.00,0.000,6,0.000,0.035,3652,1799,2052
$STATE,8233,end climb,SURFACE_DEPTH_REACHED
$STATE,8233,begin surface coast
$FINISH,0.6,1.023350
$STATE,8267,end surface coast,CONTROL_FINISHED_OK
$STATE,8267,begin surface
$SM_CCo,8288,114.65,0.535,0,0,1469,320.12
$SM_GC,1.27,0.00,0.00,114.65,0.000,0.000,0.535,473,1795,1469,-12.36,-0.85,320.12
$IRIDIUM_FIX,2239.35,-15749.78,090997,040427
$TT8_MAMPS,0.026078
$HUMID,1552
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.40
$XPDR_PINGS,456
$24V_AH,23.8,27.621
$10V_AH,10.2,17.598
$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,29.100,92.975,214.675,114.650,0.000,23.475,31.552,197.258,124.250,0.000,0.000,14.146,1019.935,4874.460,427.265,2038.792,394.132,0.000,1132.824,0.000,2009.957,0.000,64.386
$DEVICE_MAMPS,165.672,155.701,906.594,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.928,304.303,430.819,560.250,1182.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38271,485
$CAP_FILE_SIZE,88503,0
$CFSIZE,260165632,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,150608,091725,2247.936,-15749.504,31,1.8,35,10.1