version: 66.03
glider: 146
mission: 2
dive: 169
start: 6 15 108 14 8 28
data:
$ID,146
$MISSION,2
$DIVE,169
$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,-7924.8164
$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,26
$R_STBD_OVSHOOT,49
$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
$GPS1,140338,2248.066,-15749.730,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,140809,2248.070,-15749.786,14,1.2,14,10.1
$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,85.4,1349,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.09,-44.5,0.0,0.0,0,74,0.00,0.00,-53.60,0.000,2,0.000,0.000,473,1794,2824
$GC,76,-2.12,-67.3,3.3,-6.6,7,101,11.73,2.33,-4.90,0.000,4,0.158,0.072,2692,424,3052
$GC,130,-2.12,-67.3,18.5,-25.6,15,139,0.00,2.22,0.00,0.000,6,0.000,0.028,2691,1831,3054
$GC,333,-2.12,-67.3,65.1,-19.3,37,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1832,3055
$GC,526,-2.12,-67.3,101.9,-19.2,55,530,0.00,2.20,0.00,0.000,4,0.000,0.028,2692,3225,3056
$GC,545,-2.12,-67.3,106.3,-21.1,56,549,0.00,2.25,0.00,0.000,6,0.000,0.031,2691,1822,3056
$GC,744,-2.12,-67.3,143.5,-18.2,74,748,0.00,2.20,0.00,0.000,4,0.000,0.028,2692,3223,3058
$GC,757,-2.12,-67.3,146.0,-18.1,75,761,0.00,2.20,0.00,0.000,6,0.000,0.027,2692,1822,3058
$GC,959,-2.12,-67.3,180.3,-17.2,94,963,0.00,2.22,0.00,0.000,4,0.000,0.028,2691,3222,3059
$GC,1032,-2.12,-67.3,192.3,-16.1,100,1036,0.00,2.22,0.00,0.000,6,0.000,0.028,2691,1826,3059
$GC,1227,-2.12,-67.3,225.3,-17.4,111,1231,0.00,2.22,0.00,0.000,4,0.000,0.032,2692,3216,3060
$GC,1403,-2.12,-67.3,252.2,-14.8,119,1407,0.00,2.25,0.00,0.000,6,0.000,0.034,2692,1825,3061
$GC,1610,-2.12,-67.3,280.7,-13.6,129,1614,0.00,2.25,0.00,0.000,4,0.000,0.037,2691,3218,3061
$GC,1651,-2.12,-67.3,287.1,-14.9,131,1655,0.00,2.28,0.00,0.000,6,0.000,0.038,2692,1824,3062
$GC,1871,-2.12,-67.3,316.3,-12.9,139,1875,0.00,2.25,0.00,0.000,4,0.000,0.040,2691,3206,3062
$GC,1931,-2.12,-67.3,323.7,-11.8,140,1936,0.00,2.28,0.00,0.000,6,0.000,0.044,2692,1830,3062
$GC,2159,-2.12,-67.3,350.7,-12.2,146,2163,0.00,2.25,0.00,0.000,4,0.000,0.044,2692,3204,3061
$GC,2208,-2.12,-67.3,357.7,-13.2,147,2212,0.00,2.30,0.00,0.000,6,0.000,0.051,2692,1828,3061
$GC,2405,-2.12,-67.3,384.9,-13.9,152,2409,0.00,2.28,0.00,0.000,4,0.000,0.048,2692,3205,3061
$GC,2504,-2.12,-67.3,399.5,-14.3,154,2513,0.00,2.30,0.00,0.000,6,0.000,0.061,2692,1825,3060
$GC,2698,-2.12,-67.3,423.1,-12.1,159,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1825,3059
$GC,2900,-2.12,-67.3,445.5,-10.8,164,2904,0.00,2.33,0.00,0.000,4,0.000,0.057,2691,3205,3059
$GC,2984,-2.12,-67.3,454.2,-11.1,166,2989,0.00,2.33,0.00,0.000,6,0.000,0.061,2692,1827,3059
$GC,3186,-2.12,-67.3,476.6,-11.1,171,3190,0.00,2.33,0.00,0.000,4,0.000,0.067,2692,3196,3057
$STATE,3216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3217,begin apogee
$GC,3224,-0.31,0.0,480.7,12.6,171,3287,1.83,0.00,58.83,0.903,6,0.114,0.000,3088,1801,2775
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3289,2.12,67.3,482.7,0.0,173,3351,2.28,0.00,56.35,0.882,6,0.041,0.000,3630,1800,2500
$GC,3553,2.12,68.4,462.6,9.8,180,3556,0.00,2.33,0.00,0.000,4,0.000,0.053,3630,3179,2496
$GC,3810,2.14,80.8,438.9,8.1,185,3826,0.00,2.33,11.77,0.806,6,0.000,0.058,3630,1795,2444
$GC,4022,2.14,82.9,419.0,9.7,191,4026,0.00,2.30,0.00,0.000,4,0.000,0.050,3630,3183,2442
$GC,4280,2.14,85.9,392.7,9.6,196,4290,0.00,2.33,5.28,0.655,6,0.000,0.046,3630,1795,2423
$GC,4492,2.14,85.9,369.5,11.3,202,4496,0.00,2.28,0.00,0.000,4,0.000,0.044,3630,3184,2422
$GC,4721,2.14,85.9,343.8,10.9,207,4726,0.00,2.30,0.00,0.000,6,0.000,0.044,3630,1797,2419
$GC,4918,2.15,92.2,325.6,9.0,212,4929,0.00,2.25,6.10,0.677,4,0.000,0.040,3630,3185,2398
$GC,5182,2.16,101.7,302.8,8.6,218,5196,0.00,2.28,9.15,0.736,6,0.000,0.041,3630,1788,2360
$GC,5392,2.16,102.7,282.6,9.9,227,5396,0.00,2.28,0.00,0.000,4,0.000,0.038,3630,3190,2358
$GC,5549,2.17,106.8,266.7,9.4,234,5559,0.00,2.25,5.60,0.626,6,0.000,0.046,3630,1799,2339
$GC,5751,2.17,112.2,247.5,9.2,244,5761,0.00,2.28,6.03,0.635,4,0.000,0.035,3630,3189,2316
$GC,5962,2.17,112.2,225.5,10.5,253,5968,0.00,2.28,0.00,0.000,6,0.000,0.036,3630,1796,2315
$GC,6156,2.19,122.7,208.7,8.4,263,6171,0.00,2.25,10.25,0.687,4,0.000,0.040,3630,3186,2273
$GC,6226,2.19,125.1,202.5,9.6,265,6231,0.00,2.28,0.00,0.000,6,0.000,0.039,3630,1783,2272
$GC,6431,2.21,139.5,185.7,7.8,283,6455,0.00,2.33,14.75,0.691,4,0.000,0.043,3630,3179,2205
$GC,6706,2.21,139.8,160.6,10.0,307,6712,0.00,2.22,0.00,0.000,6,0.000,0.035,3630,1795,2204
$GC,6905,2.21,144.1,140.5,9.3,326,6915,0.00,0.00,5.20,0.523,6,0.000,0.000,3630,1795,2187
$GC,7106,2.21,144.1,119.5,10.9,345,7110,0.00,2.25,0.00,0.000,4,0.000,0.034,3630,3196,2186
$GC,7126,2.21,144.1,117.3,11.3,346,7130,0.00,2.25,0.00,0.000,6,0.000,0.042,3630,1793,2186
$GC,7324,2.21,144.1,96.4,10.1,364,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1793,2185
$GC,7516,2.22,152.5,78.6,8.7,382,7530,0.00,2.25,8.40,0.549,4,0.000,0.031,3630,3190,2153
$GC,7700,2.23,159.7,63.7,8.9,398,7714,0.00,2.25,7.62,0.522,6,0.000,0.041,3630,1798,2123
$GC,7904,2.26,183.3,47.9,6.4,417,7931,0.00,2.25,21.27,0.567,4,0.000,0.038,3630,3188,2026
$GC,8180,2.26,183.3,20.6,12.1,448,8188,0.00,2.28,0.00,0.000,6,0.000,0.035,3630,1800,2023
$STATE,8319,end climb,SURFACE_DEPTH_REACHED
$STATE,8319,begin surface coast
$FINISH,0.6,1.023287
$STATE,8344,end surface coast,CONTROL_FINISHED_OK
$STATE,8344,begin surface
$SM_CCo,8364,109.03,0.531,0,0,1470,320.12
$SM_GC,1.17,0.00,0.00,109.03,0.000,0.000,0.531,472,1797,1470,-12.36,-0.82,320.12
$IRIDIUM_FIX,2237.01,-15747.62,090997,111142
$TT8_MAMPS,0.026078
$HUMID,1539
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.50
$XPDR_PINGS,463
$24V_AH,23.8,27.893
$10V_AH,10.2,17.909
$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,28.725,99.950,226.600,109.025,0.000,29.940,30.820,118.923,126.250,0.000,0.000,16.814,1034.788,4839.206,412.007,2135.831,329.779,0.000,1175.821,0.000,2098.184,0.000,67.516
$DEVICE_MAMPS,158.002,72.098,902.759,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.530,294.142,419.685,543.381,1147.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38123,477
$CAP_FILE_SIZE,92462,0
$CFSIZE,260165632,250712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,150608,163055,2248.149,-15749.505,33,1.0,37,10.1