version: 66.03
glider: 146
mission: 2
dive: 225
start: 6 21 108 0 59 57
data:
$ID,146
$MISSION,2
$DIVE,225
$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,-10046.705
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,005455,2247.788,-15749.495,34,0.8,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.1
$GPS2,005938,2247.800,-15749.546,9,1.3,14,10.1
$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,58.2,1002,-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,-44.5,0.0,0.0,0,67,0.00,0.00,-45.78,0.000,2,0.000,0.000,471,1932,2614
$GC,70,-2.12,-68.6,3.1,-6.4,6,101,12.65,0.00,-10.68,0.000,6,0.177,0.000,2761,1932,3055
$GC,298,-2.12,-68.6,48.7,-21.4,38,302,0.00,2.25,0.00,0.000,4,0.000,0.028,2761,3358,3057
$GC,356,-2.12,-68.6,61.2,-18.8,43,360,0.00,2.22,0.00,0.000,6,0.000,0.030,2762,1962,3058
$GC,555,-2.12,-68.6,95.3,-16.9,61,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1962,3059
$GC,746,-2.12,-68.6,125.9,-15.6,79,750,0.00,2.20,0.00,0.000,4,0.000,0.033,2762,3350,3060
$GC,778,-2.12,-68.6,130.7,-15.6,81,782,0.00,2.22,0.00,0.000,6,0.000,0.027,2761,1942,3060
$GC,977,-2.12,-68.6,158.5,-12.2,99,981,0.00,2.22,0.00,0.000,4,0.000,0.039,2761,3354,3061
$GC,1124,-2.12,-68.6,177.9,-12.7,112,1128,0.00,2.22,0.00,0.000,6,0.000,0.028,2761,1950,3062
$GC,1321,-2.12,-68.6,200.9,-11.9,130,1325,0.00,2.22,0.00,0.000,4,0.000,0.033,2762,3345,3063
$GC,1431,-2.12,-68.6,213.6,-12.2,135,1435,0.00,2.22,0.00,0.000,6,0.000,0.029,2762,1953,3063
$GC,1637,-2.12,-68.6,238.0,-11.9,145,1641,0.00,2.47,0.00,0.000,4,0.000,0.081,2761,549,3064
$GC,1685,-2.12,-68.6,244.6,-12.1,147,1689,0.00,2.25,0.00,0.000,6,0.000,0.041,2761,1939,3064
$GC,1887,-2.12,-68.6,267.2,-11.8,157,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1941,3064
$GC,2068,-2.12,-68.6,288.1,-11.5,166,2072,0.00,2.30,0.00,0.000,4,0.000,0.045,2761,3356,3064
$GC,2139,-2.12,-68.6,296.6,-11.4,169,2143,0.00,2.30,0.00,0.000,6,0.000,0.037,2761,1960,3064
$GC,2355,-2.12,-68.6,318.8,-10.2,176,2359,0.00,2.28,0.00,0.000,4,0.000,0.042,2761,3355,3064
$GC,2409,-2.12,-68.6,324.6,-10.7,177,2414,0.00,2.33,0.00,0.000,6,0.000,0.041,2761,1953,3064
$GC,2602,-2.12,-69.4,343.5,-9.9,182,2606,0.00,2.58,0.00,0.000,4,0.000,0.097,2761,541,3064
$GC,2622,-2.12,-69.4,346.0,-11.5,182,2627,0.00,2.33,0.00,0.000,6,0.000,0.048,2761,1943,3064
$GC,2843,-2.12,-69.4,368.5,-10.1,188,2847,0.00,2.35,0.00,0.000,4,0.000,0.054,2761,3362,3063
$GC,2897,-2.12,-69.4,374.6,-11.1,189,2902,0.00,2.38,0.00,0.000,6,0.000,0.048,2761,1936,3063
$GC,3089,-2.12,-69.4,393.9,-10.0,194,3094,0.00,2.58,0.00,0.000,4,0.000,0.104,2761,542,3062
$GC,3105,-2.12,-71.5,395.6,-9.7,194,3110,0.00,2.38,0.00,0.000,6,0.000,0.058,2761,1941,3062
$GC,3333,-2.13,-79.8,415.9,-8.8,200,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1942,3061
$GC,3535,-2.15,-89.6,433.0,-8.5,205,3539,0.00,2.40,0.00,0.000,4,0.000,0.064,2761,3358,3059
$GC,3553,-2.16,-99.4,434.5,-8.5,205,3557,0.00,2.38,0.00,0.000,6,0.000,0.051,2761,1942,3059
$GC,3775,-2.17,-110.8,452.7,-8.3,211,3779,0.00,2.62,0.00,0.000,4,0.000,0.114,2761,544,3058
$GC,3824,-2.18,-117.7,457.4,-9.0,212,3828,0.00,2.38,0.00,0.000,6,0.000,0.062,2761,1948,3058
$GC,4022,-2.20,-131.6,473.1,-7.9,217,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1949,3056
$STATE,4143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4143,begin apogee
$GC,4148,-0.31,0.0,482.9,7.9,220,4211,1.83,0.00,58.28,0.919,6,0.098,0.000,3158,2053,2775
$STATE,4211,end apogee,CONTROL_FINISHED_OK
$STATE,4211,begin climb
$GC,4213,2.20,131.6,483.6,0.0,221,4329,2.25,0.00,110.28,0.900,6,0.035,0.000,3717,2054,2237
$GC,4497,2.20,131.6,440.6,20.2,228,4501,0.00,2.40,0.00,0.000,4,0.000,0.063,3717,3458,2230
$GC,4614,2.20,131.6,416.8,19.3,230,4618,0.00,2.35,0.00,0.000,6,0.000,0.044,3717,2048,2228
$GC,4834,2.20,131.6,375.4,18.8,236,4838,0.00,2.35,0.00,0.000,4,0.000,0.041,3717,3468,2226
$GC,5093,2.20,131.6,328.5,19.3,241,5099,0.00,2.35,0.00,0.000,6,0.000,0.037,3717,2034,2224
$GC,5301,2.20,131.6,294.4,16.0,247,5305,0.00,2.35,0.00,0.000,4,0.000,0.039,3717,3469,2223
$GC,5558,2.20,131.6,255.1,14.7,258,5567,0.00,2.33,0.00,0.000,6,0.000,0.036,3717,2046,2220
$GC,5749,2.20,131.6,227.0,14.3,268,5753,0.00,2.30,0.00,0.000,4,0.000,0.042,3717,3466,2219
$GC,6007,2.20,131.6,191.3,13.0,282,6011,0.00,2.28,0.00,0.000,6,0.000,0.036,3717,2049,2217
$GC,6203,2.20,131.6,166.7,11.3,300,6207,0.00,2.30,0.00,0.000,4,0.000,0.043,3717,3479,2217
$GC,6306,2.20,131.6,155.3,11.5,309,6311,0.00,2.33,0.00,0.000,6,0.000,0.034,3717,2038,2217
$GC,6505,2.20,131.6,131.8,11.6,327,6509,0.00,2.33,0.00,0.000,4,0.000,0.044,3717,3471,2216
$GC,6759,2.22,149.6,105.1,7.3,349,6780,0.00,2.33,11.93,0.609,6,0.000,0.037,3717,2044,2164
$GC,6971,2.23,154.3,87.3,9.3,369,6985,0.00,2.35,5.70,0.503,4,0.000,0.036,3717,3469,2144
$GC,7232,2.23,159.1,59.7,9.3,392,7243,0.00,2.30,5.50,0.473,6,0.000,0.032,3717,2043,2126
$GC,7444,2.25,177.1,40.6,7.3,412,7470,0.00,2.40,16.50,0.557,4,0.000,0.063,3717,660,2051
$GC,7720,2.25,177.1,7.1,14.6,451,7728,0.00,2.22,0.00,0.000,6,0.000,0.024,3717,2073,2049
$STATE,7750,end climb,SURFACE_DEPTH_REACHED
$STATE,7750,begin surface coast
$FINISH,0.6,1.022977
$STATE,7774,end surface coast,CONTROL_FINISHED_OK
$STATE,7774,begin surface
$SM_CCo,7796,115.05,0.536,0,0,1470,320.12
$SM_GC,1.14,0.00,0.00,115.05,0.000,0.000,0.536,470,1935,1470,-12.69,-0.42,320.12
$IRIDIUM_FIX,2239.35,-15749.78,140997,222251
$TT8_MAMPS,0.026078
$HUMID,1593
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.20
$XPDR_PINGS,438
$24V_AH,23.8,33.233
$10V_AH,10.2,23.579
$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,30.000,93.700,208.175,115.050,0.000,22.749,29.674,132.072,120.000,0.000,0.000,15.632,977.609,4533.564,414.420,1933.572,342.446,0.000,1080.507,0.000,1899.402,0.000,67.189
$DEVICE_MAMPS,177.177,114.283,918.866,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.769,285.842,409.219,536.435,1133.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35219,460
$CAP_FILE_SIZE,83632,0
$CFSIZE,260165632,248233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,210608,031258,2248.422,-15749.474,13,1.7,32,10.1