version: 66.03
glider: 146
mission: 2
dive: 191
start: 6 17 108 20 31 34
data:
$ID,146
$MISSION,2
$DIVE,191
$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,-9277.1807
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,202626,2248.168,-15749.088,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.5
$GPS2,203115,2248.191,-15749.117,13,0.9,13,10.1
$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,140.5,407,-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,-44.5,0.0,0.0,0,74,0.00,0.00,-53.05,0.000,2,0.000,0.000,468,1944,2803
$GC,76,-2.12,-67.8,3.2,-6.5,7,101,12.65,2.38,-5.68,0.000,4,0.181,0.072,2734,549,3053
$GC,115,-2.12,-67.8,12.3,-24.4,12,123,0.00,2.28,0.00,0.000,6,0.000,0.026,2734,1984,3055
$GC,324,-2.12,-67.8,58.9,-22.3,38,327,0.00,2.12,0.00,0.000,4,0.000,0.036,2734,3339,3057
$GC,343,-2.12,-67.8,62.4,-19.6,39,347,0.00,2.22,0.00,0.000,6,0.000,0.028,2733,1940,3057
$GC,542,-2.12,-67.8,95.6,-17.3,57,546,0.00,2.40,0.00,0.000,4,0.000,0.074,2734,553,3058
$GC,563,-2.12,-67.8,100.1,-18.9,58,572,0.00,2.22,0.00,0.000,6,0.000,0.031,2734,1947,3057
$GC,763,-2.12,-67.8,131.4,-16.2,77,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1948,3059
$GC,955,-2.12,-67.8,157.8,-12.4,95,959,0.00,2.42,0.00,0.000,4,0.000,0.073,2734,560,3060
$GC,977,-2.12,-67.8,161.5,-13.7,96,984,0.00,2.22,0.00,0.000,6,0.000,0.039,2734,1939,3060
$GC,1176,-2.12,-67.8,189.8,-15.2,115,1181,0.00,2.42,0.00,0.000,4,0.000,0.081,2734,555,3061
$GC,1200,-2.12,-67.8,193.6,-15.4,117,1205,0.00,2.25,0.00,0.000,6,0.000,0.041,2734,1953,3061
$GC,1392,-2.12,-67.8,218.1,-11.5,128,1396,0.00,2.22,0.00,0.000,4,0.000,0.035,2734,3347,3061
$GC,1502,-2.12,-67.8,231.4,-13.0,133,1506,0.00,2.22,0.00,0.000,6,0.000,0.031,2734,1957,3062
$GC,1708,-2.12,-67.8,258.0,-12.6,143,1712,0.00,2.25,0.00,0.000,4,0.000,0.039,2734,3352,3062
$GC,1734,-2.12,-67.8,262.0,-12.5,144,1739,0.00,2.28,0.00,0.000,6,0.000,0.033,2734,1958,3062
$GC,1932,-2.12,-67.8,286.5,-12.3,154,1936,0.00,2.25,0.00,0.000,4,0.000,0.038,2734,3346,3063
$GC,2016,-2.12,-67.8,296.9,-11.6,158,2020,0.00,2.28,0.00,0.000,6,0.000,0.039,2734,1953,3062
$GC,2215,-2.12,-67.8,318.0,-10.4,164,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1953,3062
$GC,2420,-2.12,-67.8,340.0,-10.8,169,2425,0.00,2.55,0.00,0.000,4,0.000,0.097,2734,548,3062
$GC,2441,-2.12,-67.8,342.9,-11.5,169,2446,0.00,2.33,0.00,0.000,6,0.000,0.050,2733,1927,3062
$GC,2662,-2.12,-67.8,368.7,-11.8,175,2666,0.00,2.50,0.00,0.000,4,0.000,0.091,2734,542,3061
$GC,2678,-2.12,-67.8,370.7,-12.1,175,2682,0.00,2.35,0.00,0.000,6,0.000,0.051,2734,1951,3061
$GC,2898,-2.12,-67.8,395.3,-11.1,181,2902,0.00,2.35,0.00,0.000,4,0.000,0.057,2733,3359,3060
$GC,2931,-2.12,-67.8,399.4,-11.8,181,2937,0.00,2.33,0.00,0.000,6,0.000,0.049,2733,1955,3060
$GC,3144,-2.12,-67.8,422.6,-11.1,187,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1954,3059
$GC,3344,-2.12,-67.8,443.4,-10.2,192,3348,0.00,2.35,0.00,0.000,4,0.000,0.055,2734,3355,3057
$GC,3428,-2.13,-72.4,451.9,-9.3,194,3432,0.00,2.38,0.00,0.000,6,0.000,0.056,2733,1951,3057
$GC,3630,-2.13,-78.5,470.3,-9.1,199,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1951,3055
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3757,-0.31,0.0,482.1,9.7,202,3819,1.85,0.00,58.47,0.913,6,0.103,0.000,3131,1898,2775
$STATE,3820,end apogee,CONTROL_FINISHED_OK
$STATE,3820,begin climb
$GC,3822,2.13,78.5,483.2,0.0,203,3893,2.25,0.00,66.07,0.894,6,0.042,0.000,3673,1898,2454
$GC,4074,2.13,78.5,458.6,12.4,210,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,1898,2450
$GC,4277,2.13,78.5,433.1,12.3,215,4281,0.00,2.38,0.00,0.000,4,0.000,0.055,3673,3306,2448
$GC,4511,2.13,78.5,403.6,11.7,220,4515,0.00,2.35,0.00,0.000,6,0.000,0.046,3673,1894,2446
$GC,4708,2.13,78.5,381.5,11.3,225,4712,0.00,2.35,0.00,0.000,4,0.000,0.041,3673,3318,2445
$GC,4965,2.15,89.4,357.8,8.4,230,4980,0.00,2.33,8.82,0.756,6,0.000,0.041,3674,1895,2409
$GC,5177,2.15,89.4,337.3,10.0,236,5181,0.00,2.33,0.00,0.000,4,0.000,0.038,3673,3319,2407
$GC,5221,2.15,89.4,332.7,10.1,237,5225,0.00,2.35,0.00,0.000,6,0.000,0.042,3673,1899,2407
$GC,5423,2.15,89.4,312.0,10.3,242,5427,0.00,2.30,0.00,0.000,4,0.000,0.044,3673,3318,2405
$GC,5513,2.15,94.6,303.2,9.2,244,5523,0.00,2.33,5.10,0.625,6,0.000,0.038,3673,1888,2389
$GC,5719,2.16,100.8,284.0,9.1,253,5727,0.00,0.00,6.60,0.676,6,0.000,0.000,3673,1887,2364
$GC,5902,2.16,102.8,265.5,9.7,262,5906,0.00,2.35,0.00,0.000,4,0.000,0.045,3673,3321,2363
$GC,6158,2.17,112.7,242.5,8.5,273,6174,0.00,2.33,11.15,0.723,6,0.000,0.038,3673,1894,2315
$GC,6365,2.17,112.7,222.2,10.2,284,6369,0.00,2.30,0.00,0.000,4,0.000,0.043,3673,3315,2313
$GC,6623,2.18,115.1,197.8,9.6,296,6627,0.00,2.28,0.00,0.000,6,0.000,0.043,3673,1899,2312
$GC,6820,2.18,119.2,179.7,9.4,314,6833,0.00,0.00,6.80,0.616,6,0.000,0.000,3673,1899,2287
$GC,7023,2.18,119.2,159.6,10.2,333,7027,0.00,2.28,0.00,0.000,4,0.000,0.037,3673,3316,2286
$GC,7281,2.20,136.0,135.1,7.5,356,7307,0.00,2.28,14.88,0.650,6,0.000,0.041,3673,1893,2219
$GC,7497,2.20,136.0,113.3,11.9,376,7501,0.00,2.33,0.00,0.000,4,0.000,0.040,3673,3320,2218
$GC,7672,2.21,144.0,95.4,8.8,391,7685,0.00,2.33,7.80,0.561,6,0.000,0.035,3673,1901,2188
$GC,7880,2.21,144.0,76.9,10.1,410,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,1900,2187
$GC,8070,2.21,144.0,60.1,10.2,428,8074,0.00,2.40,0.00,0.000,4,0.000,0.072,3673,503,2187
$GC,8199,2.24,167.5,47.7,6.5,439,8226,0.00,2.25,20.83,0.578,6,0.000,0.035,3673,1940,2091
$GC,8416,2.26,181.7,32.6,7.9,459,8434,0.00,2.17,13.02,0.539,4,0.000,0.041,3673,3297,2034
$STATE,8669,end climb,SURFACE_DEPTH_REACHED
$STATE,8669,begin surface coast
$FINISH,0.6,1.023215
$STATE,8687,end surface coast,CONTROL_FINISHED_OK
$STATE,8687,begin surface
$SM_CCo,8710,110.47,0.538,0,0,1469,320.12
$SM_GC,1.01,0.00,0.00,110.47,0.000,0.000,0.538,469,1947,1469,-12.56,-0.08,320.12
$IRIDIUM_FIX,2239.35,-15747.62,110997,181822
$TT8_MAMPS,0.026078
$HUMID,1563
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.30
$XPDR_PINGS,462
$24V_AH,23.8,29.920
$10V_AH,10.2,20.259
$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,29.725,101.825,219.550,110.475,0.000,28.733,27.243,138.690,126.000,0.000,0.000,15.399,1061.599,5205.978,423.321,2073.908,352.749,0.000,1142.369,0.000,2044.240,0.000,67.185
$DEVICE_MAMPS,181.012,118.118,913.497,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.443,317.505,447.507,577.783,1218.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38384,505
$CAP_FILE_SIZE,92636,0
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,170608,225941,2247.803,-15749.038,9,3.1,28,10.1