version: 66.03
glider: 146
mission: 2
dive: 175
start: 6 16 108 5 1 16
data:
$ID,146
$MISSION,2
$DIVE,175
$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,-8939.4375
$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,48
$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
$GPS1,045238,2248.093,-15749.387,28,1.2,28,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,050057,2248.115,-15749.345,14,1.1,14,10.1
$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,99.7,626,-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,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,74,0.00,0.00,-53.05,0.000,2,0.000,0.000,472,1795,2820
$GC,76,-2.12,-70.1,3.2,-6.2,7,101,11.75,2.33,-5.38,0.000,4,0.160,0.081,2692,424,3062
$GC,114,-2.12,-70.1,13.3,-26.7,12,123,0.00,2.25,0.00,0.000,6,0.000,0.031,2692,1835,3063
$GC,317,-2.12,-70.1,66.5,-26.7,36,321,0.00,2.17,0.00,0.000,4,0.000,0.029,2692,3221,3065
$GC,341,-2.12,-70.1,72.2,-24.0,38,345,0.00,2.22,0.00,0.000,6,0.000,0.029,2692,1820,3065
$GC,541,-2.12,-70.1,111.4,-16.5,56,545,0.00,2.22,0.00,0.000,4,0.000,0.028,2692,3226,3067
$GC,694,-2.12,-70.1,136.7,-17.6,69,698,0.00,2.22,0.00,0.000,6,0.000,0.034,2692,1826,3067
$GC,895,-2.12,-70.1,171.2,-15.8,87,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1825,3069
$GC,1101,-2.12,-70.1,204.3,-16.2,106,1105,0.00,2.22,0.00,0.000,4,0.000,0.030,2692,3223,3070
$GC,1120,-2.12,-70.1,206.9,-16.1,107,1125,0.00,2.25,0.00,0.000,6,0.000,0.031,2692,1823,3070
$GC,1326,-2.12,-70.1,236.1,-14.5,117,1330,0.00,2.25,0.00,0.000,4,0.000,0.040,2692,3221,3070
$GC,1427,-2.12,-70.1,250.5,-13.1,121,1433,0.00,2.25,0.00,0.000,6,0.000,0.034,2692,1826,3070
$GC,1621,-2.12,-70.1,275.0,-13.5,131,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1825,3071
$GC,1803,-2.12,-70.1,299.3,-13.3,140,1807,0.00,2.25,0.00,0.000,4,0.000,0.041,2692,3209,3071
$GC,1835,-2.12,-70.1,303.8,-14.0,141,1842,0.00,2.30,0.00,0.000,6,0.000,0.041,2692,1828,3071
$GC,2047,-2.12,-70.1,331.0,-13.0,147,2051,0.00,2.28,0.00,0.000,4,0.000,0.044,2692,3212,3070
$GC,2192,-2.12,-70.1,351.7,-14.0,150,2196,0.00,2.30,0.00,0.000,6,0.000,0.047,2692,1825,3070
$GC,2382,-2.12,-70.1,376.1,-12.8,155,2386,0.00,2.28,0.00,0.000,4,0.000,0.048,2692,3206,3070
$GC,2476,-2.12,-70.1,387.7,-11.7,157,2481,0.00,2.33,0.00,0.000,6,0.000,0.060,2692,1829,3069
$GC,2674,-2.12,-70.1,411.6,-12.3,162,2678,0.00,2.65,0.00,0.000,4,0.000,0.112,2693,413,3068
$GC,2717,-2.12,-70.1,417.7,-13.5,163,2721,0.00,2.33,0.00,0.000,6,0.000,0.055,2692,1795,3068
$GC,2920,-2.12,-70.1,442.3,-12.0,168,2924,0.00,2.45,0.00,0.000,4,0.000,0.067,2692,3233,3067
$GC,2996,-2.12,-70.1,452.2,-12.3,169,3003,0.00,2.40,0.00,0.000,6,0.000,0.063,2692,1822,3066
$GC,3208,-2.12,-70.1,479.4,-12.9,175,3212,0.00,2.40,0.00,0.000,4,0.000,0.063,2692,3233,3065
$STATE,3215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3215,begin apogee
$GC,3222,-0.31,0.0,480.9,12.7,175,3286,1.83,0.00,60.00,0.901,6,0.109,0.000,3085,1795,2775
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3289,2.12,70.1,482.6,0.0,176,3356,2.25,2.67,58.47,0.881,4,0.042,0.109,3632,392,2488
$GC,3407,2.12,71.3,475.8,9.8,178,3413,0.00,2.40,0.00,0.000,6,0.000,0.053,3632,1802,2486
$GC,3615,2.13,76.4,456.2,9.2,184,3626,0.00,2.45,6.15,0.694,4,0.000,0.064,3632,3210,2462
$GC,3636,2.14,84.6,454.3,8.8,184,3654,0.00,2.38,8.75,0.755,6,0.000,0.056,3632,1801,2428
$GC,3856,2.14,84.6,429.5,11.7,190,3860,0.00,2.33,0.00,0.000,4,0.000,0.048,3632,3211,2425
$GC,4113,2.14,84.6,400.3,10.6,195,4117,0.00,2.38,0.00,0.000,6,0.000,0.050,3632,1796,2424
$GC,4328,2.14,84.6,377.9,10.2,201,4332,0.00,2.33,0.00,0.000,4,0.000,0.044,3632,3220,2422
$GC,4585,2.14,84.6,350.0,10.4,206,4589,0.00,2.35,0.00,0.000,6,0.000,0.041,3632,1804,2419
$GC,4800,2.14,87.6,329.0,9.6,212,4804,0.00,2.30,0.00,0.000,4,0.000,0.042,3632,3222,2419
$GC,5057,2.16,98.6,306.2,8.3,217,5072,0.00,2.33,10.65,0.755,6,0.000,0.045,3632,1792,2373
$GC,5265,2.16,99.6,286.4,9.8,226,5269,0.00,2.33,0.00,0.000,4,0.000,0.041,3632,3219,2371
$GC,5454,2.16,99.6,267.9,10.3,234,5462,0.00,2.35,0.00,0.000,6,0.000,0.038,3632,1799,2370
$GC,5645,2.17,109.1,251.3,8.6,244,5657,0.00,0.00,9.88,0.716,6,0.000,0.000,3632,1799,2330
$GC,5833,2.17,109.1,230.2,11.4,253,5837,0.00,2.30,0.00,0.000,4,0.000,0.035,3632,3220,2328
$GC,5849,2.17,109.1,228.3,10.9,254,5853,0.00,2.30,0.00,0.000,6,0.000,0.037,3632,1798,2328
$GC,6051,2.18,117.0,210.2,8.8,264,6065,0.00,2.35,7.70,0.658,4,0.000,0.038,3632,3216,2297
$GC,6310,2.18,119.2,186.0,9.7,281,6317,0.00,2.30,0.00,0.000,6,0.000,0.042,3632,1794,2296
$GC,6508,2.19,127.0,168.6,8.8,300,6521,0.00,0.00,9.45,0.647,6,0.000,0.000,3632,1793,2257
$GC,6711,2.20,133.6,149.1,9.0,319,6722,0.00,0.00,6.82,0.581,6,0.000,0.000,3632,1793,2230
$GC,6913,2.21,141.5,130.6,8.8,338,6927,0.00,2.35,8.52,0.602,4,0.000,0.035,3632,3228,2196
$GC,7109,2.21,141.5,107.7,12.0,355,7118,0.00,2.33,0.00,0.000,6,0.000,0.043,3632,1804,2195
$GC,7309,2.21,141.5,85.5,12.0,374,7313,0.00,2.28,0.00,0.000,4,0.000,0.035,3632,3222,2194
$GC,7351,2.21,141.5,80.4,11.4,377,7360,0.00,2.30,0.00,0.000,6,0.000,0.039,3632,1804,2194
$GC,7551,2.23,157.4,64.0,7.6,396,7577,0.00,2.35,14.00,0.581,4,0.000,0.038,3632,3222,2132
$GC,7678,2.24,169.8,54.8,8.1,407,7695,0.00,2.30,11.57,0.555,6,0.000,0.038,3632,1800,2082
$GC,7896,2.27,191.3,36.8,6.8,427,7923,0.10,2.42,19.38,0.558,4,0.073,0.065,3659,395,1993
$GC,7959,2.27,191.3,30.8,11.2,432,7963,0.00,2.25,0.00,0.000,6,0.000,0.026,3659,1830,1991
$GC,8162,2.27,191.3,5.7,12.9,468,8170,0.00,2.20,0.00,0.000,4,0.000,0.041,3659,3195,1990
$STATE,8182,end climb,SURFACE_DEPTH_REACHED
$STATE,8182,begin surface coast
$FINISH,1.0,1.023225
$STATE,8195,end surface coast,CONTROL_FINISHED_OK
$STATE,8195,begin surface
$SM_CCo,8218,102.43,0.537,0,0,1470,320.12
$SM_GC,1.11,0.00,0.00,102.43,0.000,0.000,0.537,472,1821,1470,-12.36,-0.11,320.12
$IRIDIUM_FIX,2239.35,-15749.78,100997,050548
$TT8_MAMPS,0.026078
$HUMID,1549
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.00
$XPDR_PINGS,488
$24V_AH,23.8,28.451
$10V_AH,10.2,18.552
$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,28.850,111.650,231.350,102.425,0.000,61.760,61.587,218.339,132.250,0.000,0.000,15.870,1018.814,4851.093,422.953,2035.770,498.479,0.000,1176.279,0.000,1999.312,0.000,64.394
$DEVICE_MAMPS,159.536,111.982,901.225,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.117,299.365,418.737,536.521,1133.179,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38203,473
$CAP_FILE_SIZE,94292,0
$CFSIZE,260165632,250437632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,160608,072105,2247.798,-15749.095,11,99.0,30,10.1