version: 66.03
glider: 146
mission: 2
dive: 190
start: 6 17 108 18 3 51
data:
$ID,146
$MISSION,2
$DIVE,190
$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,-9261.1523
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3200
$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,1950
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$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
$GPS1,175631,2248.317,-15749.240,38,1.3,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.5
$GPS2,180332,2248.354,-15749.271,11,1.7,11,10.1
$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,134.7,802,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,75,0.00,0.00,-52.97,0.000,2,0.000,0.000,473,2010,2811
$GC,77,-2.12,-65.2,3.3,-6.9,7,101,12.20,0.00,-5.10,0.000,6,0.168,0.000,2734,2010,3043
$GC,303,-2.12,-65.2,54.6,-22.4,37,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2010,3046
$GC,504,-2.12,-65.2,91.9,-16.7,56,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2010,3047
$GC,704,-2.12,-65.2,125.9,-17.5,75,708,0.00,2.17,0.00,0.000,4,0.000,0.031,2734,3375,3048
$GC,745,-2.12,-65.2,133.6,-17.9,78,749,0.00,2.25,0.00,0.000,6,0.000,0.028,2734,1947,3049
$GC,949,-2.12,-65.2,166.8,-14.9,97,953,0.00,2.28,0.00,0.000,4,0.000,0.030,2734,3376,3050
$GC,974,-2.12,-65.2,169.8,-12.4,99,979,0.00,2.28,0.00,0.000,6,0.000,0.027,2734,1942,3050
$GC,1175,-2.12,-65.2,194.8,-12.8,118,1179,0.00,2.30,0.00,0.000,4,0.000,0.032,2734,3373,3050
$GC,1238,-2.12,-65.2,203.5,-15.0,122,1242,0.00,2.28,0.00,0.000,6,0.000,0.030,2734,1946,3050
$GC,1440,-2.12,-65.2,229.2,-12.1,132,1444,0.00,2.28,0.00,0.000,4,0.000,0.035,2734,3370,3051
$GC,1478,-2.12,-65.2,233.9,-12.7,134,1482,0.00,2.28,0.00,0.000,6,0.000,0.031,2734,1948,3052
$GC,1680,-2.12,-65.2,258.5,-12.2,144,1684,0.00,2.30,0.00,0.000,4,0.000,0.035,2734,3380,3052
$GC,1791,-2.12,-65.2,271.9,-11.8,149,1795,0.00,2.30,0.00,0.000,6,0.000,0.036,2734,1953,3052
$GC,1996,-2.12,-65.2,295.8,-11.2,159,2000,0.00,2.30,0.00,0.000,4,0.000,0.041,2734,3372,3052
$GC,2059,-2.12,-65.2,303.3,-11.8,161,2063,0.00,2.30,0.00,0.000,6,0.000,0.038,2734,1953,3052
$GC,2278,-2.12,-65.2,327.6,-11.0,167,2282,0.00,2.30,0.00,0.000,4,0.000,0.042,2734,3365,3052
$GC,2321,-2.12,-65.2,332.1,-10.3,168,2326,0.00,2.35,0.00,0.000,6,0.000,0.044,2734,1957,3052
$GC,2525,-2.12,-65.2,353.7,-10.8,173,2529,0.00,2.58,0.00,0.000,4,0.000,0.099,2734,545,3051
$GC,2539,-2.12,-65.2,355.5,-10.8,173,2544,0.00,2.38,0.00,0.000,6,0.000,0.054,2734,1957,3051
$GC,2766,-2.12,-65.2,379.3,-10.4,179,2770,0.00,2.33,0.00,0.000,4,0.000,0.053,2734,3358,3050
$GC,2787,-2.12,-65.2,381.7,-10.6,179,2791,0.00,2.35,0.00,0.000,6,0.000,0.048,2734,1950,3050
$GC,3008,-2.12,-65.2,403.7,-10.0,185,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1950,3049
$GC,3210,-2.12,-65.2,424.6,-10.2,190,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1949,3047
$GC,3414,-2.12,-68.3,444.1,-9.5,195,3418,0.00,2.38,0.00,0.000,4,0.000,0.064,2734,3353,3046
$GC,3508,-2.12,-71.4,453.5,-9.5,197,3512,0.00,2.38,0.00,0.000,6,0.000,0.058,2734,1955,3046
$GC,3705,-2.13,-74.7,472.0,-9.5,202,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1954,3045
$STATE,3825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3825,begin apogee
$GC,3830,-0.31,0.0,483.6,9.5,205,3890,1.83,0.00,55.92,0.912,6,0.099,0.000,3128,1892,2775
$STATE,3891,end apogee,CONTROL_FINISHED_OK
$STATE,3891,begin climb
$GC,3893,2.13,74.7,484.7,0.0,206,3964,2.20,2.72,62.45,0.890,4,0.044,0.117,3672,494,2470
$GC,3974,2.16,96.7,481.3,6.7,208,4000,0.00,2.40,20.00,0.841,6,0.000,0.053,3672,1896,2379
$GC,4215,2.16,96.7,449.1,14.0,214,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,3672,1896,2375
$GC,4418,2.16,96.7,422.4,13.2,219,4422,0.00,2.42,0.00,0.000,4,0.000,0.061,3672,3318,2373
$GC,4675,2.16,96.7,386.3,14.4,224,4682,0.00,2.38,0.00,0.000,6,0.000,0.041,3672,1901,2371
$GC,4884,2.16,96.7,360.2,12.2,230,4888,0.00,2.33,0.00,0.000,4,0.000,0.039,3672,3326,2369
$GC,5141,2.16,96.7,327.1,11.8,235,5146,0.00,2.38,0.00,0.000,6,0.000,0.043,3672,1899,2367
$GC,5356,2.16,96.7,302.4,11.2,241,5360,0.00,2.30,0.00,0.000,4,0.000,0.037,3672,3317,2366
$GC,5537,2.16,100.3,283.9,9.5,248,5541,0.00,2.30,0.00,0.000,6,0.000,0.038,3672,1897,2365
$GC,5744,2.16,100.3,263.1,10.4,258,5748,0.00,2.33,0.00,0.000,4,0.000,0.039,3672,3327,2364
$GC,6000,2.16,100.3,235.4,11.1,269,6007,0.00,2.35,0.00,0.000,6,0.000,0.038,3672,1900,2363
$GC,6195,2.18,114.8,219.4,7.8,279,6216,0.00,2.38,13.02,0.719,4,0.000,0.038,3672,3322,2305
$GC,6467,2.19,126.9,194.4,8.2,293,6487,0.00,2.33,11.43,0.684,6,0.000,0.036,3672,1898,2256
$GC,6677,2.19,126.9,173.9,10.4,313,6681,0.00,2.33,0.00,0.000,4,0.000,0.043,3672,3327,2254
$GC,6936,2.19,128.9,144.0,9.7,336,6941,0.00,2.33,0.00,0.000,6,0.000,0.039,3672,1888,2253
$GC,7135,2.21,137.5,126.6,8.7,354,7150,0.00,2.40,9.57,0.614,4,0.000,0.041,3672,3327,2213
$GC,7398,2.21,137.5,98.8,10.6,377,7407,0.00,2.35,0.00,0.000,6,0.000,0.036,3672,1895,2212
$GC,7598,2.21,140.3,79.4,9.6,396,7612,0.00,2.35,3.95,0.420,4,0.000,0.041,3672,3315,2202
$GC,7625,2.21,140.3,76.5,10.5,398,7630,0.00,2.28,0.00,0.000,6,0.000,0.036,3672,1901,2202
$GC,7825,2.21,145.5,58.0,9.2,416,7839,0.00,2.33,5.70,0.486,4,0.000,0.036,3672,3320,2182
$GC,7844,2.21,145.5,55.5,10.7,417,7852,0.00,2.30,0.00,0.000,6,0.000,0.035,3672,1906,2182
$GC,8044,2.27,194.2,45.1,2.7,436,8095,0.10,2.35,41.85,0.581,4,0.074,0.037,3700,3320,1982
$GC,8100,2.30,211.6,41.9,7.4,440,8122,0.00,2.33,15.98,0.543,6,0.000,0.035,3700,1900,1911
$GC,8315,2.30,211.6,9.9,17.0,471,8323,0.00,2.33,0.00,0.000,4,0.000,0.035,3700,3322,1906
$STATE,8352,end climb,SURFACE_DEPTH_REACHED
$STATE,8352,begin surface coast
$FINISH,0.6,1.005375
$STATE,8370,end surface coast,CONTROL_FINISHED_OK
$STATE,8370,begin surface
$SM_CCo,8393,85.78,0.536,0,0,1470,320.12
$SM_GC,1.18,0.00,0.00,85.78,0.000,0.000,0.536,468,1945,1470,-12.57,-0.14,320.12
$IRIDIUM_FIX,2239.35,-15747.62,110997,181840
$TT8_MAMPS,0.026078
$HUMID,1570
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,21.90
$XPDR_PINGS,455
$24V_AH,23.8,29.828
$10V_AH,10.2,20.149
$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,29.450,102.925,239.875,85.775,0.000,55.960,58.586,148.780,124.000,0.000,0.000,13.045,1018.925,5033.256,402.086,2022.168,432.037,0.000,1147.578,0.000,1995.893,0.000,64.383
$DEVICE_MAMPS,167.973,116.584,911.963,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.401,299.328,424.876,546.839,1155.009,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38128,480
$CAP_FILE_SIZE,90649,0
$CFSIZE,260165632,249749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,170608,202626,2248.168,-15749.088,38,1.2,38,10.1