version: 66.03
glider: 146
mission: 2
dive: 228
start: 6 21 108 7 48 48
data:
$ID,146
$MISSION,2
$DIVE,228
$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,-10117.595
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,074409,2248.672,-15748.950,11,1.8,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.8
$GPS2,074827,2248.719,-15748.968,14,1.7,14,10.1
$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,172.3,1332,-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,-52.97,0.000,2,0.000,0.000,467,1939,2818
$GC,77,-2.12,-67.3,3.5,-6.6,7,101,12.93,2.38,-5.00,0.000,4,0.186,0.071,2763,543,3051
$GC,185,-2.12,-67.3,30.3,-20.6,25,189,0.00,2.25,0.00,0.000,6,0.000,0.025,2763,1986,3054
$GC,384,-2.12,-67.3,69.1,-17.4,43,388,0.00,2.47,0.00,0.000,4,0.000,0.063,2763,549,3055
$GC,403,-2.12,-67.3,72.4,-17.5,44,407,0.00,2.20,0.00,0.000,6,0.000,0.028,2763,1955,3055
$GC,602,-2.12,-67.3,104.3,-15.0,62,606,0.00,2.17,0.00,0.000,4,0.000,0.037,2763,3338,3057
$GC,668,-2.12,-67.3,114.0,-14.9,67,672,0.00,2.22,0.00,0.000,6,0.000,0.031,2763,1937,3057
$GC,867,-2.12,-67.3,143.2,-13.7,85,871,0.00,2.40,0.00,0.000,4,0.000,0.079,2763,559,3059
$GC,885,-2.12,-67.3,146.0,-14.7,86,890,0.00,2.20,0.00,0.000,6,0.000,0.033,2763,1953,3059
$GC,1082,-2.12,-67.3,174.3,-14.0,104,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1953,3060
$GC,1274,-2.12,-67.3,200.5,-12.9,122,1278,0.00,2.20,0.00,0.000,4,0.000,0.032,2763,3337,3061
$GC,1385,-2.12,-67.3,214.7,-11.9,127,1389,0.00,2.20,0.00,0.000,6,0.000,0.027,2763,1950,3061
$GC,1590,-2.12,-67.3,238.9,-12.1,137,1594,0.00,2.22,0.00,0.000,4,0.000,0.035,2763,3344,3062
$GC,1673,-2.12,-67.3,249.1,-11.6,140,1682,0.00,2.25,0.00,0.000,6,0.000,0.035,2763,1957,3062
$GC,1865,-2.12,-67.3,269.3,-10.1,150,1870,0.00,2.50,0.00,0.000,4,0.000,0.084,2763,551,3062
$GC,1919,-2.12,-67.3,276.1,-12.8,152,1923,0.00,2.28,0.00,0.000,6,0.000,0.044,2763,1925,3063
$GC,2116,-2.12,-67.3,298.3,-11.1,162,2120,0.00,2.33,0.00,0.000,4,0.000,0.045,2764,3355,3063
$GC,2189,-2.12,-67.3,306.1,-10.7,164,2193,0.00,2.28,0.00,0.000,6,0.000,0.038,2763,1955,3063
$GC,2406,-2.12,-69.1,327.6,-9.7,170,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1955,3063
$GC,2607,-2.12,-69.5,347.6,-9.9,175,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1954,3063
$GC,2810,-2.12,-69.5,369.3,-10.5,180,2814,0.00,2.33,0.00,0.000,4,0.000,0.048,2763,3362,3063
$GC,2826,-2.12,-69.5,371.0,-10.3,180,2830,0.00,2.35,0.00,0.000,6,0.000,0.045,2763,1945,3063
$GC,3053,-2.13,-74.8,392.1,-9.2,186,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1944,3061
$GC,3256,-2.14,-88.3,408.4,-8.0,191,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1944,3061
$GC,3459,-2.15,-96.3,425.9,-8.8,196,3463,0.00,2.35,0.00,0.000,4,0.000,0.061,2763,3350,3060
$GC,3486,-2.15,-96.3,428.7,-10.0,196,3490,0.00,2.35,0.00,0.000,6,0.000,0.052,2763,1952,3060
$GC,3700,-2.16,-98.9,449.1,-9.6,202,3705,0.00,2.35,0.00,0.000,4,0.000,0.058,2763,3349,3058
$GC,3722,-2.16,-100.4,451.2,-9.8,202,3726,0.00,2.38,0.00,0.000,6,0.000,0.054,2763,1948,3058
$GC,3939,-2.16,-102.2,472.0,-9.7,208,3943,0.00,2.67,0.00,0.000,4,0.000,0.120,2763,542,3057
$GC,3982,-2.16,-102.2,476.9,-10.7,209,3986,0.00,2.38,0.00,0.000,6,0.000,0.064,2763,1946,3057
$STATE,4014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4014,begin apogee
$GC,4020,-0.31,0.0,480.2,9.3,209,4082,1.77,0.00,58.55,0.908,6,0.095,0.000,3160,2063,2775
$STATE,4083,end apogee,CONTROL_FINISHED_OK
$STATE,4083,begin climb
$GC,4085,2.16,102.2,481.1,0.0,211,4180,2.25,2.50,85.00,0.891,4,0.038,0.073,3706,3449,2357
$GC,4213,2.16,102.2,471.4,15.1,214,4217,0.00,2.35,0.00,0.000,6,0.000,0.048,3706,2049,2354
$GC,4434,2.16,102.2,437.0,15.7,220,4438,0.00,2.38,0.00,0.000,4,0.000,0.052,3706,3462,2352
$GC,4505,2.16,102.2,425.5,15.6,221,4509,0.00,2.35,0.00,0.000,6,0.000,0.045,3706,2048,2351
$GC,4720,2.16,102.2,393.4,15.0,227,4724,0.00,2.35,0.00,0.000,4,0.000,0.044,3706,3466,2349
$GC,4825,2.16,102.2,378.6,13.4,229,4830,0.00,2.33,0.00,0.000,6,0.000,0.040,3706,2046,2348
$GC,5045,2.16,102.2,350.1,13.1,235,5049,0.00,2.35,0.00,0.000,4,0.000,0.046,3706,3472,2347
$GC,5303,2.16,102.2,317.5,12.3,240,5310,0.00,2.33,0.00,0.000,6,0.000,0.041,3706,2044,2345
$GC,5492,2.16,102.2,295.5,11.7,246,5496,0.00,2.33,0.00,0.000,4,0.000,0.045,3706,3464,2344
$GC,5748,2.16,102.2,264.4,13.7,257,5754,0.00,2.28,0.00,0.000,6,0.000,0.044,3706,2049,2342
$GC,5942,2.16,102.2,242.6,10.3,267,5946,0.00,2.33,0.00,0.000,4,0.000,0.040,3706,3467,2341
$GC,6171,2.18,115.8,221.3,8.0,277,6188,0.00,2.30,9.57,0.688,6,0.000,0.034,3706,2046,2301
$GC,6375,2.18,115.8,203.4,10.2,287,6379,0.00,2.33,0.00,0.000,4,0.000,0.039,3706,3471,2300
$GC,6633,2.18,118.1,177.8,9.7,308,6640,0.00,2.30,0.00,0.000,6,0.000,0.034,3706,2056,2299
$GC,6832,2.19,126.0,160.4,8.8,327,6846,0.00,2.33,9.57,0.637,4,0.000,0.044,3706,3473,2260
$GC,6878,2.19,127.8,156.3,9.7,331,6882,0.00,2.30,0.00,0.000,6,0.000,0.033,3706,2043,2260
$GC,7078,2.19,127.8,135.3,10.6,349,7082,0.00,2.33,0.00,0.000,4,0.000,0.040,3706,3476,2259
$GC,7332,2.20,129.7,109.3,9.7,371,7342,0.00,2.30,4.55,0.472,6,0.000,0.034,3706,2054,2246
$GC,7532,2.21,139.3,93.5,8.5,390,7547,0.00,2.38,9.43,0.571,4,0.000,0.036,3706,3470,2207
$GC,7795,2.22,153.3,67.1,7.9,413,7815,0.00,2.30,13.23,0.568,6,0.000,0.034,3706,2053,2149
$GC,8005,2.22,153.3,48.2,10.1,433,8009,0.00,2.30,0.00,0.000,4,0.000,0.036,3706,3468,2147
$GC,8256,2.26,178.5,33.0,6.2,455,8289,0.00,2.30,21.85,0.550,6,0.000,0.038,3706,2049,2046
$GC,8485,2.26,178.5,6.2,13.3,492,8493,0.00,2.33,0.00,0.000,4,0.000,0.034,3706,3463,2043
$STATE,8505,end climb,SURFACE_DEPTH_REACHED
$STATE,8505,begin surface coast
$FINISH,0.6,1.023256
$STATE,8522,end surface coast,CONTROL_FINISHED_OK
$STATE,8523,begin surface
$SM_CCo,8547,113.20,0.530,0,0,1469,320.12
$SM_GC,1.18,0.00,0.00,113.20,0.000,0.000,0.530,467,1945,1469,-12.71,-0.14,320.12
$IRIDIUM_FIX,2239.35,-15747.62,150997,050521
$TT8_MAMPS,0.026078
$HUMID,1574
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,22.70
$XPDR_PINGS,473
$24V_AH,23.8,33.512
$10V_AH,10.2,23.878
$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,30.175,112.000,211.750,113.200,0.000,30.087,25.180,109.999,128.500,0.000,0.000,16.058,1051.391,5035.480,413.367,2078.277,352.211,0.000,1151.220,0.000,2059.908,0.000,64.367
$DEVICE_MAMPS,185.614,119.652,908.128,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.220,314.632,444.321,572.638,1206.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38285,498
$CAP_FILE_SIZE,92843,0
$CFSIZE,260165632,248090624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210608,101426,2248.466,-15749.036,39,1.1,39,10.1