version: 66.03
glider: 146
mission: 2
dive: 254
start: 6 23 108 23 58 15
data:
$ID,146
$MISSION,2
$DIVE,254
$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,-10620.536
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,235302,2248.547,-15748.984,8,1.7,25,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,235756,2248.596,-15749.016,11,1.0,11,10.1
$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,168.5,1105,-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,20,-2.09,-44.5,0.0,0.0,0,75,0.00,0.00,-53.03,0.000,2,0.000,0.000,467,1949,2822
$GC,78,-2.13,-76.7,3.1,-5.2,7,103,12.77,2.40,-6.05,0.000,4,0.179,0.071,2759,555,3090
$GC,192,-2.13,-76.7,28.8,-22.9,26,200,0.00,2.22,0.00,0.000,6,0.000,0.031,2759,1961,3092
$GC,391,-2.13,-76.7,72.6,-21.4,45,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1961,3093
$GC,581,-2.13,-76.7,106.9,-17.7,63,585,0.00,2.17,0.00,0.000,4,0.000,0.031,2758,3341,3094
$GC,681,-2.13,-76.7,123.7,-15.0,71,685,0.00,2.22,0.00,0.000,6,0.000,0.035,2759,1943,3094
$GC,881,-2.13,-76.7,152.8,-14.5,89,885,0.00,2.22,0.00,0.000,4,0.000,0.028,2759,3345,3096
$GC,898,-2.13,-76.7,155.8,-14.5,90,902,0.00,2.22,0.00,0.000,6,0.000,0.031,2759,1940,3096
$GC,1095,-2.13,-76.7,185.2,-15.0,108,1099,0.00,2.42,0.00,0.000,4,0.000,0.074,2759,554,3097
$GC,1114,-2.13,-76.7,187.7,-15.2,109,1118,0.00,2.22,0.00,0.000,6,0.000,0.035,2759,1956,3097
$GC,1307,-2.13,-76.7,214.4,-12.5,122,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1957,3098
$GC,1497,-2.13,-76.7,238.9,-13.1,131,1501,0.00,2.45,0.00,0.000,4,0.000,0.079,2759,560,3098
$GC,1520,-2.13,-76.7,242.4,-13.3,132,1524,0.00,2.22,0.00,0.000,6,0.000,0.038,2759,1948,3098
$GC,1716,-2.13,-78.6,262.0,-9.7,142,1721,0.00,2.47,0.00,0.000,4,0.000,0.081,2759,555,3099
$GC,1780,-2.13,-78.6,269.6,-12.2,145,1785,0.00,2.25,0.00,0.000,6,0.000,0.048,2759,1947,3099
$GC,1990,-2.13,-78.6,293.6,-11.0,155,1994,0.00,2.25,0.00,0.000,4,0.000,0.044,2759,3355,3099
$GC,2101,-2.13,-78.6,306.6,-11.8,159,2106,0.00,2.28,0.00,0.000,6,0.000,0.036,2759,1942,3099
$GC,2330,-2.13,-78.6,331.0,-10.8,165,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1941,3099
$GC,2531,-2.13,-78.6,353.7,-11.3,170,2535,0.00,2.33,0.00,0.000,4,0.000,0.045,2759,3358,3098
$GC,2587,-2.13,-78.6,360.3,-11.8,171,2591,0.00,2.33,0.00,0.000,6,0.000,0.045,2759,1951,3098
$GC,2813,-2.13,-78.6,383.9,-10.4,177,2817,0.00,2.30,0.00,0.000,4,0.000,0.047,2759,3351,3097
$GC,2856,-2.13,-78.6,388.7,-10.8,178,2861,0.00,2.35,0.00,0.000,6,0.000,0.048,2759,1943,3097
$GC,3059,-2.13,-79.8,408.5,-9.8,183,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1943,3096
$GC,3263,-2.14,-87.3,426.9,-8.9,188,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1943,3094
$GC,3465,-2.15,-96.3,444.3,-8.7,193,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1943,3093
$GC,3669,-2.16,-102.1,462.6,-9.1,198,3673,0.00,2.40,0.00,0.000,4,0.000,0.061,2759,3352,3092
$GC,3730,-2.16,-102.2,468.7,-10.0,199,3735,0.00,2.35,0.00,0.000,6,0.000,0.057,2759,1952,3092
$STATE,3873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3873,begin apogee
$GC,3879,-0.31,0.0,481.7,9.1,203,3948,1.83,0.00,65.32,0.907,6,0.093,0.000,3158,2050,2775
$STATE,3949,end apogee,CONTROL_FINISHED_OK
$STATE,3949,begin climb
$GC,3951,2.16,102.2,482.3,0.0,204,4041,2.20,0.00,85.35,0.887,6,0.035,0.000,3707,2050,2358
$GC,4235,2.16,102.2,448.1,15.8,211,4239,0.00,2.35,0.00,0.000,4,0.000,0.052,3707,3451,2352
$GC,4432,2.16,102.2,417.3,16.0,215,4436,0.00,2.35,0.00,0.000,6,0.000,0.050,3707,2047,2350
$GC,4657,2.16,102.2,383.8,14.6,221,4661,0.00,2.30,0.00,0.000,4,0.000,0.047,3707,3451,2348
$GC,4914,2.16,102.2,347.0,13.1,226,4918,0.00,2.30,0.00,0.000,6,0.000,0.044,3707,2042,2346
$GC,5129,2.16,102.2,320.5,12.2,232,5133,0.00,2.33,0.00,0.000,4,0.000,0.044,3707,3459,2345
$GC,5385,2.16,102.2,290.2,10.2,239,5392,0.00,2.30,0.00,0.000,6,0.000,0.041,3707,2036,2342
$GC,5580,2.16,102.2,268.1,12.6,249,5584,0.00,2.33,0.00,0.000,4,0.000,0.040,3707,3453,2342
$GC,5836,2.16,102.2,236.5,11.1,260,5845,0.00,2.30,0.00,0.000,6,0.000,0.042,3707,2044,2341
$GC,6028,2.18,115.1,219.2,8.1,270,6042,0.00,2.35,8.82,0.679,4,0.000,0.043,3707,3455,2305
$GC,6295,2.19,124.2,195.7,8.6,284,6309,0.00,2.25,8.98,0.659,6,0.000,0.039,3707,2049,2268
$GC,6499,2.19,124.2,175.4,11.0,303,6502,0.00,2.28,0.00,0.000,4,0.000,0.036,3707,3464,2267
$GC,6759,2.19,124.2,147.6,10.4,326,6763,0.00,2.25,0.00,0.000,6,0.000,0.031,3707,2034,2266
$GC,6964,2.22,147.7,131.9,6.5,345,6991,0.00,2.33,20.58,0.649,4,0.000,0.035,3707,3456,2170
$GC,7238,2.22,147.7,103.5,10.7,369,7247,0.00,2.28,0.00,0.000,6,0.000,0.038,3707,2050,2168
$GC,7438,2.22,150.6,84.0,9.6,388,7442,0.00,2.28,0.00,0.000,4,0.000,0.041,3707,3459,2168
$GC,7690,2.24,165.3,60.0,7.8,410,7712,0.00,2.28,15.57,0.565,6,0.000,0.033,3707,2045,2100
$GC,7903,2.25,170.1,42.2,9.3,430,7913,0.00,0.00,5.43,0.448,6,0.000,0.000,3707,2045,2080
$GC,8105,2.25,170.1,20.6,11.5,456,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2045,2080
$STATE,8244,end climb,SURFACE_DEPTH_REACHED
$STATE,8244,begin surface coast
$FINISH,0.7,1.023167
$STATE,8269,end surface coast,CONTROL_FINISHED_OK
$STATE,8269,begin surface
$SM_CCo,8291,121.00,0.527,0,0,1470,320.12
$SM_GC,1.31,0.00,0.00,121.00,0.000,0.000,0.527,466,1933,1470,-12.71,-0.48,320.12
$IRIDIUM_FIX,2239.35,-15747.62,170997,212155
$TT8_MAMPS,0.026078
$HUMID,1574
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,22.70
$XPDR_PINGS,466
$24V_AH,23.8,36.004
$10V_AH,10.2,26.624
$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,29.975,83.225,210.050,121.000,0.000,28.699,27.417,141.679,126.750,0.000,0.000,12.952,1018.848,4869.688,410.017,2048.248,366.663,0.000,1113.283,0.000,2018.983,0.000,64.389
$DEVICE_MAMPS,179.478,80.535,907.361,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.651,304.554,432.889,564.020,1191.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38209,485
$CAP_FILE_SIZE,85395,0
$CFSIZE,260165632,246923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,240608,021938,2248.497,-15748.985,32,1.2,32,10.1