version: 66.03
glider: 146
mission: 2
dive: 224
start: 6 20 108 22 35 23
data:
$ID,146
$MISSION,2
$DIVE,224
$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,-10030.444
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3230
$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,55
$R_STBD_OVSHOOT,23
$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
$GPS1,223038,2248.282,-15748.895,27,1.2,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.5
$GPS2,223502,2248.292,-15748.920,8,1.2,13,10.1
$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,184.0,557,-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,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,74,0.00,0.00,-53.10,0.000,2,0.000,0.000,470,1919,2813
$GC,77,-2.12,-69.1,3.4,-6.3,7,101,12.60,2.30,-5.40,0.000,4,0.176,0.073,2762,574,3059
$GC,220,-2.12,-69.1,36.2,-21.4,29,229,0.00,2.22,0.00,0.000,6,0.000,0.028,2762,1986,3061
$GC,420,-2.12,-69.1,72.8,-16.6,48,424,0.00,2.12,0.00,0.000,4,0.000,0.035,2762,3341,3062
$GC,439,-2.12,-69.1,75.7,-15.7,49,443,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,1964,3062
$GC,638,-2.12,-69.1,106.3,-15.0,67,642,0.00,2.42,0.00,0.000,4,0.000,0.074,2762,559,3063
$GC,657,-2.12,-69.1,109.1,-14.0,68,664,0.00,2.20,0.00,0.000,6,0.000,0.031,2762,1960,3064
$GC,864,-2.12,-69.1,139.5,-14.4,87,868,0.00,2.17,0.00,0.000,4,0.000,0.034,2762,3344,3065
$GC,899,-2.12,-69.1,144.4,-13.9,90,903,0.00,2.22,0.00,0.000,6,0.000,0.030,2762,1942,3065
$GC,1095,-2.12,-69.1,168.7,-11.2,108,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1941,3066
$GC,1287,-2.12,-69.1,191.4,-12.3,126,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1941,3068
$GC,1477,-2.12,-69.1,214.0,-12.6,139,1481,0.00,2.25,0.00,0.000,4,0.000,0.043,2762,3341,3067
$GC,1529,-2.12,-69.1,220.7,-12.3,141,1533,0.00,2.22,0.00,0.000,6,0.000,0.030,2762,1947,3068
$GC,1720,-2.12,-69.1,243.9,-12.6,150,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1947,3068
$GC,1909,-2.12,-69.1,265.2,-10.7,159,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1946,3068
$GC,2091,-2.12,-70.4,284.5,-9.8,168,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1946,3069
$GC,2276,-2.12,-70.4,305.4,-11.8,176,2280,0.00,2.28,0.00,0.000,4,0.000,0.044,2762,3333,3068
$GC,2381,-2.12,-70.4,317.9,-11.4,178,2385,0.00,2.25,0.00,0.000,6,0.000,0.039,2762,1954,3068
$GC,2608,-2.12,-70.4,342.5,-11.0,184,2612,0.00,2.58,0.00,0.000,4,0.000,0.097,2762,541,3068
$GC,2634,-2.12,-70.4,345.8,-12.4,184,2638,0.00,2.30,0.00,0.000,6,0.000,0.054,2762,1912,3068
$GC,2851,-2.12,-70.4,370.1,-11.2,190,2856,0.00,2.45,0.00,0.000,4,0.000,0.090,2762,549,3067
$GC,2895,-2.12,-70.4,375.5,-11.6,191,2899,0.00,2.35,0.00,0.000,6,0.000,0.051,2762,1955,3067
$GC,3098,-2.12,-72.0,395.7,-9.8,196,3102,0.00,2.35,0.00,0.000,4,0.000,0.059,2762,3361,3066
$GC,3153,-2.13,-73.2,401.2,-9.8,197,3157,0.00,2.33,0.00,0.000,6,0.000,0.049,2761,1954,3066
$GC,3344,-2.14,-81.1,418.2,-8.8,202,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1954,3065
$GC,3547,-2.15,-93.9,434.8,-8.1,207,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1954,3064
$GC,3753,-2.17,-105.6,451.5,-8.2,212,3757,0.00,2.38,0.00,0.000,4,0.000,0.058,2762,3361,3063
$GC,3780,-2.17,-112.3,454.2,-9.0,212,3784,0.00,2.35,0.00,0.000,6,0.000,0.061,2762,1952,3063
$GC,3990,-2.18,-114.8,473.8,-9.6,217,3994,0.00,2.38,0.00,0.000,4,0.000,0.059,2762,3355,3061
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4056,-0.31,0.0,480.3,10.4,218,4120,1.80,0.00,59.33,0.916,6,0.097,0.000,3156,2045,2775
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4120,begin climb
$GC,4123,2.18,114.8,482.4,0.0,220,4224,2.30,0.00,96.22,0.900,6,0.041,0.000,3711,2044,2306
$GC,4400,2.18,114.8,452.2,15.1,227,4404,0.00,2.40,0.00,0.000,4,0.000,0.059,3711,3463,2300
$GC,4561,2.18,114.8,424.6,17.9,230,4566,0.00,2.40,0.00,0.000,6,0.000,0.053,3711,2043,2297
$GC,4782,2.18,114.8,387.5,16.9,236,4786,0.00,2.35,0.00,0.000,4,0.000,0.046,3711,3462,2296
$GC,4949,2.18,114.8,359.3,16.2,239,4956,0.00,2.35,0.00,0.000,6,0.000,0.048,3711,2044,2295
$GC,5159,2.18,114.8,326.8,15.5,245,5163,0.00,2.35,0.00,0.000,4,0.000,0.041,3711,3473,2293
$GC,5208,2.18,114.8,319.0,14.9,246,5212,0.00,2.35,0.00,0.000,6,0.000,0.042,3711,2043,2293
$GC,5405,2.18,114.8,290.9,13.1,252,5409,0.00,2.33,0.00,0.000,4,0.000,0.047,3711,3467,2292
$GC,5571,2.18,114.8,268.8,13.0,259,5575,0.00,2.30,0.00,0.000,6,0.000,0.038,3711,2044,2290
$GC,5771,2.18,114.8,246.7,10.6,269,5775,0.00,2.33,0.00,0.000,4,0.000,0.044,3711,3464,2289
$GC,5813,2.18,114.8,242.0,11.2,271,5817,0.00,2.28,0.00,0.000,6,0.000,0.041,3711,2049,2289
$GC,6017,2.18,114.8,219.1,11.0,281,6021,0.00,2.30,0.00,0.000,4,0.000,0.038,3711,3467,2288
$GC,6274,2.18,114.8,189.3,10.4,296,6278,0.00,2.30,0.00,0.000,6,0.000,0.035,3711,2041,2287
$GC,6471,2.18,119.2,170.5,9.3,314,6475,0.00,2.33,0.00,0.000,4,0.000,0.038,3711,3474,2286
$GC,6728,2.19,121.9,146.7,9.6,336,6737,0.00,2.33,0.00,0.000,6,0.000,0.040,3711,2047,2286
$GC,6928,2.19,124.4,128.8,9.6,355,6941,0.00,2.33,5.88,0.549,4,0.000,0.035,3711,3466,2266
$GC,7177,2.19,124.4,105.7,10.3,377,7186,0.00,2.30,0.00,0.000,6,0.000,0.034,3710,2054,2266
$GC,7377,2.22,151.6,91.4,5.9,396,7407,0.00,2.45,23.27,0.616,4,0.000,0.059,3711,654,2155
$GC,7416,2.25,173.4,89.0,6.7,399,7442,0.00,2.28,19.45,0.598,6,0.000,0.035,3711,2085,2068
$GC,7633,2.25,173.4,60.7,14.3,419,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3711,2087,2063
$GC,7823,2.25,177.2,41.0,9.4,437,7837,0.00,2.22,4.20,0.403,4,0.000,0.042,3711,3442,2051
$GC,7999,2.25,177.2,20.6,12.3,459,8007,0.00,2.28,0.00,0.000,6,0.000,0.034,3711,2047,2051
$STATE,8133,end climb,SURFACE_DEPTH_REACHED
$STATE,8133,begin surface coast
$FINISH,0.6,1.023213
$STATE,8158,end surface coast,CONTROL_FINISHED_OK
$STATE,8159,begin surface
$SM_CCo,8180,115.03,0.536,0,0,1470,320.12
$SM_GC,1.22,0.00,0.00,115.03,0.000,0.000,0.536,471,1932,1470,-12.69,-0.51,320.12
$IRIDIUM_FIX,2241.69,-15746.73,140997,202003
$TT8_MAMPS,0.025311
$HUMID,1570
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.10
$XPDR_PINGS,466
$24V_AH,23.8,33.141
$10V_AH,10.2,23.477
$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,29.900,97.225,208.350,115.025,0.000,31.007,27.344,111.050,126.750,0.000,0.000,15.132,1011.782,4848.041,424.534,1952.353,334.531,0.000,1092.871,0.000,1928.031,0.000,64.370
$DEVICE_MAMPS,176.410,96.642,915.798,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.069,309.457,436.952,567.174,1198.080,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38158,487
$CAP_FILE_SIZE,86179,0
$CFSIZE,260165632,248270848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210608,005455,2247.788,-15749.495,34,0.8,38,10.1