version: 66.03
glider: 146
mission: 2
dive: 210
start: 6 19 108 16 1 56
data:
$ID,146
$MISSION,2
$DIVE,210
$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,-9711.4482
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3250
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,39
$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
$GPS1,155559,2248.339,-15749.310,9,2.9,28,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,160138,2248.376,-15749.348,36,0.9,36,10.1
$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,129.5,916,-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,-52.95,0.000,2,0.000,0.000,470,1937,2819
$GC,76,-2.12,-70.2,3.2,-6.1,7,101,12.77,2.35,-5.38,0.000,4,0.176,0.072,2783,563,3063
$GC,185,-2.12,-70.2,29.0,-21.7,25,193,0.00,2.25,0.00,0.000,6,0.000,0.027,2782,1982,3065
$GC,384,-2.12,-70.2,67.4,-19.2,44,388,0.00,2.45,0.00,0.000,4,0.000,0.070,2783,557,3066
$GC,404,-2.12,-70.2,71.8,-18.5,45,413,0.00,2.22,0.00,0.000,6,0.000,0.029,2783,1959,3066
$GC,604,-2.12,-70.2,104.7,-15.8,64,609,0.00,2.40,0.00,0.000,4,0.000,0.066,2782,566,3067
$GC,635,-2.12,-70.2,109.5,-16.0,66,640,0.00,2.17,0.00,0.000,6,0.000,0.033,2782,1953,3067
$GC,839,-2.12,-70.2,137.7,-13.0,85,843,0.00,2.17,0.00,0.000,4,0.000,0.031,2782,3341,3069
$GC,885,-2.12,-70.2,144.0,-14.2,89,889,0.00,2.20,0.00,0.000,6,0.000,0.028,2783,1954,3069
$GC,1085,-2.12,-70.2,172.2,-14.2,107,1089,0.00,2.22,0.00,0.000,4,0.000,0.032,2783,3351,3070
$GC,1102,-2.12,-70.2,175.0,-13.6,108,1106,0.00,2.22,0.00,0.000,6,0.000,0.026,2783,1942,3070
$GC,1298,-2.12,-70.2,198.3,-10.7,126,1303,0.00,2.42,0.00,0.000,4,0.000,0.076,2783,557,3070
$GC,1318,-2.12,-70.2,200.2,-11.3,127,1322,0.00,2.22,0.00,0.000,6,0.000,0.038,2782,1946,3070
$GC,1524,-2.12,-70.2,221.7,-10.1,137,1527,0.00,2.22,0.00,0.000,4,0.000,0.035,2782,3355,3071
$GC,1578,-2.12,-70.2,228.2,-11.5,139,1583,0.00,2.25,0.00,0.000,6,0.000,0.030,2783,1948,3071
$GC,1780,-2.12,-70.2,250.6,-11.6,149,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1947,3071
$GC,1962,-2.12,-70.2,271.6,-11.3,158,1966,0.00,2.47,0.00,0.000,4,0.000,0.086,2783,554,3072
$GC,1980,-2.12,-70.2,273.6,-11.5,159,1985,0.00,2.28,0.00,0.000,6,0.000,0.044,2783,1944,3072
$GC,2187,-2.12,-70.2,296.8,-11.3,169,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1945,3072
$GC,2386,-2.12,-70.2,318.6,-10.5,175,2390,0.00,2.33,0.00,0.000,4,0.000,0.050,2783,3355,3072
$GC,2403,-2.12,-70.2,320.3,-10.5,175,2407,0.00,2.28,0.00,0.000,6,0.000,0.040,2783,1955,3072
$GC,2629,-2.12,-70.2,343.5,-10.2,181,2633,0.00,2.55,0.00,0.000,4,0.000,0.097,2782,548,3071
$GC,2655,-2.12,-70.2,346.3,-10.6,181,2659,0.00,2.35,0.00,0.000,6,0.000,0.051,2782,1943,3071
$GC,2870,-2.13,-75.7,366.5,-9.2,187,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1943,3071
$GC,3073,-2.14,-82.6,384.8,-9.0,192,3077,0.00,2.35,0.00,0.000,4,0.000,0.054,2783,3362,3069
$GC,3100,-2.14,-82.6,387.5,-10.2,192,3104,0.00,2.38,0.00,0.000,6,0.000,0.049,2782,1956,3069
$GC,3315,-2.14,-85.8,408.2,-9.5,198,3320,0.00,2.33,0.00,0.000,4,0.000,0.049,2782,3361,3068
$GC,3338,-2.15,-89.9,410.3,-9.4,198,3342,0.00,2.35,0.00,0.000,6,0.000,0.050,2783,1951,3068
$GC,3552,-2.16,-102.6,428.0,-8.1,204,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1951,3067
$GC,3755,-2.18,-119.9,443.1,-7.4,209,3759,0.00,2.38,0.00,0.000,4,0.000,0.061,2783,3365,3065
$GC,3794,-2.20,-136.0,446.2,-7.6,210,3798,0.00,2.38,0.00,0.000,6,0.000,0.056,2783,1949,3065
$GC,3996,-2.22,-147.9,462.6,-8.2,215,4000,0.00,2.38,0.00,0.000,4,0.000,0.058,2782,3358,3064
$GC,4022,-2.22,-151.2,465.3,-9.5,215,4026,0.00,2.38,0.00,0.000,6,0.000,0.064,2782,1950,3064
$STATE,4195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4201,-0.31,0.0,481.4,9.3,220,4265,1.83,0.00,60.12,0.919,6,0.092,0.000,3183,2016,2775
$STATE,4266,end apogee,CONTROL_FINISHED_OK
$STATE,4266,begin climb
$GC,4268,2.22,151.2,482.3,0.0,221,4403,2.25,2.42,125.93,0.900,4,0.036,0.059,3738,3398,2157
$GC,4659,2.22,151.2,414.7,22.2,230,4663,0.00,2.35,0.00,0.000,6,0.000,0.048,3738,1997,2149
$GC,4860,2.22,151.2,370.1,22.1,235,4864,0.00,2.33,0.00,0.000,4,0.000,0.042,3739,3402,2146
$GC,5117,2.22,151.2,314.7,20.5,240,5121,0.00,2.35,0.00,0.000,6,0.000,0.044,3738,1997,2143
$GC,5313,2.22,151.2,278.9,17.7,248,5317,0.00,2.33,0.00,0.000,4,0.000,0.040,3739,3412,2141
$GC,5568,2.22,151.2,232.6,17.0,259,5575,0.00,2.33,0.00,0.000,6,0.000,0.044,3738,1996,2140
$GC,5762,2.22,151.2,202.5,15.8,269,5766,0.00,2.30,0.00,0.000,4,0.000,0.038,3738,3416,2138
$GC,6024,2.22,151.2,158.2,15.9,291,6028,0.00,2.30,0.00,0.000,6,0.000,0.041,3738,1996,2137
$GC,6223,2.22,151.2,129.7,13.2,309,6227,0.00,2.30,0.00,0.000,4,0.000,0.036,3738,3413,2135
$GC,6475,2.22,151.2,95.6,12.6,331,6484,0.00,2.30,0.00,0.000,6,0.000,0.035,3738,1996,2135
$GC,6675,2.23,155.8,74.3,9.3,350,6679,0.00,2.30,0.00,0.000,4,0.000,0.040,3738,3415,2135
$GC,6928,2.25,174.2,53.4,7.2,372,6950,0.00,2.30,16.05,0.572,6,0.000,0.033,3738,1999,2063
$GC,7140,2.25,174.2,30.7,11.7,392,7144,0.00,2.28,0.00,0.000,4,0.000,0.042,3738,3412,2062
$GC,7213,2.25,174.2,21.3,12.1,404,7220,0.00,2.28,0.00,0.000,6,0.000,0.032,3738,2000,2062
$STATE,7361,end climb,SURFACE_DEPTH_REACHED
$STATE,7361,begin surface coast
$FINISH,0.6,1.011693
$STATE,7386,end surface coast,CONTROL_FINISHED_OK
$STATE,7386,begin surface
$SM_CCo,7407,117.32,0.538,0,0,1468,320.12
$SM_GC,1.31,0.00,0.00,117.32,0.000,0.000,0.538,465,1940,1468,-12.81,-0.28,320.12
$IRIDIUM_FIX,2241.69,-15748.90,130997,131324
$TT8_MAMPS,0.026078
$HUMID,1582
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.20
$XPDR_PINGS,422
$24V_AH,23.8,31.793
$10V_AH,10.2,22.133
$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,30.125,97.550,202.100,117.325,0.000,30.341,29.739,162.662,115.750,0.000,0.000,37.632,926.151,4340.894,393.690,1841.213,368.594,0.000,1036.534,0.000,1786.310,0.000,64.722
$DEVICE_MAMPS,176.410,121.953,918.866,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.529,270.683,385.708,510.723,1076.478,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31970,435
$CAP_FILE_SIZE,82589,0
$CFSIZE,260165632,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,190608,180829,2248.401,-15749.115,10,3.6,29,10.1