version: 66.03
glider: 146
mission: 2
dive: 220
start: 6 20 108 13 55 53
data:
$ID,146
$MISSION,2
$DIVE,220
$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,-9949.2686
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$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
$GPS1,135107,2248.276,-15750.115,35,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.7
$GPS2,135533,2248.300,-15750.146,13,1.1,13,10.1
$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,95.8,2033,-22.1,-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,-1.50,-94.0,0.0,0.0,0,75,0.00,0.00,-53.70,0.000,2,0.000,0.000,472,1948,2832
$GC,78,-1.56,-142.6,3.4,-6.5,7,110,13.62,2.42,-11.02,0.000,4,0.183,0.075,2904,549,3359
$GC,123,-1.56,-142.6,14.5,-21.8,13,132,0.00,2.22,0.00,0.000,6,0.000,0.022,2904,1971,3361
$GC,332,-1.56,-142.6,51.0,-16.4,39,336,0.00,2.45,0.00,0.000,4,0.000,0.065,2904,551,3362
$GC,364,-1.56,-142.6,56.2,-17.7,41,368,0.00,2.17,0.00,0.000,6,0.000,0.028,2904,1947,3362
$GC,563,-1.56,-142.6,82.5,-11.7,59,567,0.00,2.40,0.00,0.000,4,0.000,0.067,2904,554,3363
$GC,620,-1.56,-142.6,88.9,-10.8,64,625,0.00,2.20,0.00,0.000,6,0.000,0.036,2904,1955,3364
$GC,820,-1.56,-143.5,109.9,-9.9,82,825,0.00,2.20,0.00,0.000,4,0.000,0.032,2904,3342,3365
$GC,867,-1.58,-157.3,114.3,-9.0,86,871,0.00,2.22,-0.40,0.000,6,0.000,0.034,2904,1945,3421
$GC,1066,-1.58,-157.3,134.3,-10.2,104,1070,0.00,2.40,0.00,0.000,4,0.000,0.078,2903,555,3424
$GC,1114,-1.58,-157.3,139.7,-10.4,108,1124,0.00,2.22,0.00,0.000,6,0.000,0.041,2904,1941,3424
$GC,1315,-1.58,-157.3,161.0,-11.8,127,1320,0.00,2.42,0.00,0.000,4,0.000,0.075,2904,558,3424
$GC,1347,-1.58,-157.3,165.9,-12.9,129,1354,0.00,2.25,0.00,0.000,6,0.000,0.035,2904,1950,3425
$GC,1545,-1.58,-157.3,187.7,-10.1,148,1549,0.00,2.47,0.00,0.000,4,0.000,0.077,2904,551,3425
$GC,1631,-1.58,-157.3,197.3,-12.0,155,1635,0.00,2.25,0.00,0.000,6,0.000,0.044,2904,1953,3426
$GC,1827,-1.60,-174.8,215.1,-8.8,165,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1954,3426
$GC,2009,-1.63,-195.9,230.7,-8.5,174,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1955,3426
$GC,2198,-1.66,-225.9,245.8,-7.9,183,2203,0.00,2.47,0.00,0.000,4,0.000,0.086,2904,556,3427
$GC,2225,-1.68,-242.5,248.6,-8.8,184,2230,0.00,2.28,0.00,0.000,6,0.000,0.042,2904,1936,3427
$GC,2423,-1.71,-268.2,264.5,-8.2,194,2428,0.12,2.45,0.00,0.000,4,0.054,0.082,2856,556,3427
$GC,2478,-1.71,-268.2,270.4,-11.3,196,2485,0.05,2.30,0.00,0.000,6,0.106,0.045,2870,1944,3427
$GC,2669,-1.71,-268.2,290.0,-10.3,206,2673,0.00,2.47,0.00,0.000,4,0.000,0.085,2870,559,3427
$GC,2693,-1.71,-268.2,292.3,-11.1,207,2697,0.00,2.30,0.00,0.000,6,0.000,0.051,2870,1959,3427
$GC,2894,-1.71,-268.2,313.1,-10.2,214,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1960,3426
$GC,3097,-1.72,-276.9,332.4,-9.4,219,3101,0.00,2.53,0.00,0.000,4,0.000,0.089,2870,557,3426
$GC,3158,-1.74,-287.9,338.2,-9.2,220,3162,0.00,2.30,0.00,0.000,6,0.000,0.054,2870,1945,3425
$GC,3384,-1.74,-292.0,357.6,-8.4,226,3388,0.00,2.50,0.00,0.000,4,0.000,0.092,2870,559,3425
$GC,3434,-1.74,-292.0,362.5,-9.3,227,3438,0.00,2.33,0.00,0.000,6,0.000,0.051,2870,1950,3424
$GC,3631,-1.74,-292.0,380.5,-9.2,232,3636,0.00,2.53,0.00,0.000,4,0.000,0.094,2870,560,3423
$GC,3670,-1.74,-292.0,384.6,-10.8,233,3674,0.00,2.35,0.00,0.000,6,0.000,0.057,2870,1954,3423
$GC,3873,-1.74,-292.0,404.4,-9.7,238,3877,0.00,2.55,0.00,0.000,4,0.000,0.103,2870,556,3422
$GC,3912,-1.74,-292.0,408.4,-10.3,239,3916,0.00,2.35,0.00,0.000,6,0.000,0.056,2870,1947,3421
$GC,4113,-1.74,-292.0,427.6,-9.4,244,4118,0.00,2.55,0.00,0.000,4,0.000,0.106,2870,557,3420
$GC,4168,-1.74,-292.0,433.2,-10.1,245,4173,0.00,2.38,0.00,0.000,6,0.000,0.065,2871,1940,3420
$GC,4360,-1.74,-292.0,450.3,-8.9,250,4365,0.00,2.55,0.00,0.000,4,0.000,0.100,2870,552,3419
$GC,4387,-1.74,-292.0,452.9,-9.6,250,4391,0.00,2.38,0.00,0.000,6,0.000,0.059,2870,1949,3419
$GC,4605,-1.74,-292.0,471.4,-8.7,256,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1950,3418
$STATE,4723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4723,begin apogee
$GC,4728,-0.31,0.0,482.3,9.0,259,4863,1.38,0.00,131.18,0.924,6,0.077,0.000,3181,2050,2774
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4866,1.74,292.0,487.0,0.0,262,5119,1.85,2.60,243.57,0.890,4,0.042,0.091,3636,655,1583
$GC,5140,1.74,292.0,446.7,31.6,268,5147,0.00,2.40,0.00,0.000,6,0.000,0.051,3636,2057,1579
$GC,5350,1.74,292.0,387.7,28.0,274,5354,0.00,2.53,0.00,0.000,4,0.000,0.088,3636,658,1574
$GC,5365,1.74,292.0,383.3,27.8,274,5369,0.00,2.33,0.00,0.000,6,0.000,0.048,3636,2057,1573
$GC,5591,1.74,292.0,321.9,26.7,280,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2057,1571
$GC,5774,1.74,292.0,274.3,25.3,286,5778,0.00,2.33,0.00,0.000,4,0.000,0.043,3636,3470,1570
$GC,5795,1.74,292.0,268.2,26.6,287,5800,0.00,2.33,0.00,0.000,6,0.000,0.040,3636,2061,1568
$GC,6001,1.74,292.0,219.1,23.1,297,6005,0.00,2.30,0.00,0.000,4,0.000,0.044,3636,3459,1567
$GC,6095,1.74,292.0,196.2,23.4,302,6100,0.00,2.30,0.00,0.000,6,0.000,0.040,3637,2049,1565
$GC,6292,1.74,292.0,149.8,24.6,320,6296,0.00,2.45,0.00,0.000,4,0.000,0.073,3636,643,1564
$GC,6316,1.74,292.0,144.1,27.0,322,6320,0.00,2.28,0.00,0.000,6,0.000,0.033,3636,2077,1564
$GC,6515,1.74,292.0,97.8,23.7,340,6519,0.00,2.20,0.00,0.000,4,0.000,0.041,3636,3449,1563
$GC,6567,1.74,292.0,85.7,21.8,344,6571,0.00,2.28,0.00,0.000,6,0.000,0.043,3636,2036,1562
$GC,6766,1.74,292.0,45.6,17.9,362,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2036,1561
$GC,6959,1.74,292.0,7.4,20.6,390,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2036,1561
$STATE,6983,end climb,SURFACE_DEPTH_REACHED
$STATE,6983,begin surface coast
$FINISH,0.6,1.021865
$STATE,6996,end surface coast,CONTROL_FINISHED_OK
$STATE,6996,begin surface
$SM_CCo,7018,18.80,0.548,0,0,1470,320.12
$SM_GC,1.28,0.00,0.00,18.80,0.000,0.000,0.548,471,1934,1470,-12.78,-0.42,320.12
$IRIDIUM_FIX,2237.01,-15752.82,140997,111143
$TT8_MAMPS,0.026078
$HUMID,1741
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,19.50
$XPDR_PINGS,401
$24V_AH,23.7,32.772
$10V_AH,10.2,23.079
$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,29.800,104.500,374.750,18.800,0.000,22.655,27.765,123.271,110.500,0.000,0.000,15.294,830.816,4180.828,445.965,1533.497,322.007,0.000,1041.117,0.000,1503.913,0.000,64.389
$DEVICE_MAMPS,183.313,105.846,924.235,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,271.384,245.480,346.121,445.387,939.252,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31926,396
$CAP_FILE_SIZE,79115,0
$CFSIZE,260165632,248459264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200608,155416,2248.194,-15749.382,8,2.2,27,10.1