version: 66.03
glider: 146
mission: 2
dive: 258
start: 6 24 108 9 46 30
data:
$ID,146
$MISSION,2
$DIVE,258
$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,-10700.899
$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,22
$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
$GPS1,094201,2248.794,-15748.780,35,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.4
$GPS2,094609,2248.854,-15748.788,10,1.3,10,10.1
$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,182.8,1623,-27.9,-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,-1.82,-60.2,0.0,0.0,0,74,0.00,0.00,-52.72,0.000,2,0.000,0.000,465,1935,2817
$GC,77,-1.86,-91.8,3.3,-6.5,7,109,13.00,2.40,-7.28,0.000,4,0.176,0.071,2819,567,3153
$GC,233,-1.86,-91.8,37.1,-19.8,30,237,0.00,2.20,0.00,0.000,6,0.000,0.034,2819,1981,3156
$GC,496,-1.86,-91.8,84.8,-15.5,54,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1982,3157
$GC,750,-1.86,-91.8,122.0,-13.1,78,754,0.00,2.45,0.00,0.000,4,0.000,0.068,2820,569,3158
$GC,780,-1.86,-91.8,126.2,-14.6,80,784,0.00,2.17,0.00,0.000,6,0.000,0.031,2819,1953,3158
$GC,1042,-1.86,-91.8,161.2,-12.7,104,1046,0.00,2.42,0.00,0.000,4,0.000,0.072,2819,570,3160
$GC,1063,-1.86,-91.8,164.3,-13.1,105,1070,0.00,2.20,0.00,0.000,6,0.000,0.034,2820,1944,3160
$GC,1326,-1.86,-91.8,194.9,-11.8,130,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1945,3160
$GC,1580,-1.86,-91.8,224.1,-11.5,140,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1945,3161
$GC,1825,-1.86,-91.8,249.5,-10.5,146,1829,0.00,2.42,0.00,0.000,4,0.000,0.078,2820,569,3162
$GC,1891,-1.86,-92.8,256.2,-9.9,147,1895,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,1935,3162
$GC,2153,-1.86,-92.8,282.6,-10.5,154,2157,0.00,2.30,0.00,0.000,4,0.000,0.041,2819,3357,3162
$GC,2237,-1.86,-92.8,291.5,-10.2,156,2241,0.00,2.25,0.00,0.000,6,0.000,0.035,2819,1963,3162
$GC,2520,-1.86,-96.1,319.7,-9.6,163,2525,0.00,2.53,0.00,0.000,4,0.000,0.091,2819,546,3162
$GC,2564,-1.86,-96.7,324.1,-9.9,164,2569,0.00,2.30,0.00,0.000,6,0.000,0.045,2820,1946,3162
$GC,2849,-1.86,-98.6,351.5,-9.8,171,2853,0.00,2.53,0.00,0.000,4,0.000,0.091,2819,545,3161
$GC,2903,-1.86,-98.6,357.2,-10.4,172,2907,0.00,2.33,0.00,0.000,6,0.000,0.049,2819,1946,3161
$GC,3178,-1.87,-106.6,382.3,-9.1,179,3182,0.00,2.53,0.00,0.000,4,0.000,0.091,2819,546,3160
$GC,3212,-1.88,-108.6,385.8,-9.8,179,3218,0.00,2.35,0.00,0.000,6,0.000,0.053,2819,1950,3160
$GC,3462,-1.89,-116.6,408.3,-9.1,186,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1950,3159
$GC,3706,-1.90,-124.5,431.0,-9.1,192,3710,0.00,2.53,0.00,0.000,4,0.000,0.096,2819,552,3158
$GC,3745,-1.90,-124.5,434.7,-10.1,193,3749,0.00,2.35,0.00,0.000,6,0.000,0.056,2819,1946,3157
$GC,4033,-1.92,-143.7,458.4,-7.9,200,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1947,3155
$GC,4277,-1.94,-163.6,477.4,-7.8,206,4282,0.00,2.58,0.00,0.000,4,0.000,0.107,2819,548,3154
$GC,4306,-1.96,-173.5,479.7,-8.9,206,4311,0.00,2.40,0.00,0.000,6,0.000,0.067,2819,1953,3153
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4315,begin apogee
$GC,4320,-0.31,0.0,480.6,8.3,207,4402,1.52,0.00,78.05,0.910,6,0.091,0.000,3159,2053,2774
$STATE,4403,end apogee,CONTROL_FINISHED_OK
$STATE,4403,begin climb
$GC,4405,1.96,173.5,481.6,0.0,209,4558,2.00,2.60,144.20,0.889,4,0.040,0.094,3661,651,2065
$GC,4574,1.96,173.5,464.5,22.4,213,4578,0.00,2.40,0.00,0.000,6,0.000,0.058,3661,2047,2062
$GC,4852,1.96,173.5,405.3,21.1,220,4856,0.00,2.42,0.00,0.000,4,0.000,0.061,3661,3467,2056
$GC,4941,1.96,173.5,387.5,19.8,222,4946,0.00,2.35,0.00,0.000,6,0.000,0.048,3661,2055,2054
$GC,5219,1.96,173.5,331.5,20.4,229,5223,0.00,2.33,0.00,0.000,4,0.000,0.042,3661,3474,2051
$GC,5303,1.96,173.5,313.5,21.9,231,5307,0.00,2.35,0.00,0.000,6,0.000,0.040,3661,2041,2050
$GC,5585,1.96,173.5,258.7,18.9,238,5589,0.00,2.35,0.00,0.000,4,0.000,0.045,3662,3472,2048
$GC,5842,1.96,173.5,211.9,18.2,243,5848,0.00,2.33,0.00,0.000,6,0.000,0.039,3661,2037,2046
$GC,6099,1.96,173.5,172.6,13.4,262,6103,0.00,2.35,0.00,0.000,4,0.000,0.037,3661,3479,2044
$GC,6243,1.96,173.5,151.4,14.9,274,6252,0.00,2.33,0.00,0.000,6,0.000,0.038,3661,2047,2043
$GC,6507,1.96,173.5,112.3,16.7,299,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3661,2047,2042
$GC,6761,1.96,173.5,76.9,11.7,323,6765,0.00,2.33,0.00,0.000,4,0.000,0.041,3661,3480,2041
$GC,6782,1.96,173.5,73.8,12.5,324,6791,0.00,2.33,0.00,0.000,6,0.000,0.036,3661,2046,2042
$GC,7046,1.99,202.7,47.9,6.7,349,7073,0.00,2.33,21.35,0.570,4,0.000,0.039,3661,3475,1947
$GC,7190,1.99,202.7,30.5,14.9,361,7198,0.00,2.33,0.00,0.000,6,0.000,0.032,3661,2052,1944
$STATE,7385,end climb,SURFACE_DEPTH_REACHED
$STATE,7385,begin surface coast
$FINISH,0.5,1.011259
$STATE,7403,end surface coast,CONTROL_FINISHED_OK
$STATE,7403,begin surface
$SM_CCo,7425,94.07,0.536,0,0,1469,320.12
$SM_GC,1.26,0.00,0.00,94.07,0.000,0.000,0.536,461,1927,1469,-12.74,-0.68,320.12
$IRIDIUM_FIX,2239.35,-15747.62,180997,070732
$TT8_MAMPS,0.026078
$HUMID,1635
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,21.80
$XPDR_PINGS,382
$24V_AH,23.8,36.382
$10V_AH,10.2,26.992
$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,29.425,80.850,243.600,94.075,0.000,29.047,28.200,98.950,105.750,0.000,0.000,12.118,830.615,4666.979,411.451,1564.176,306.114,0.000,978.330,0.000,1540.268,0.000,65.686
$DEVICE_MAMPS,176.410,107.380,909.662,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,273.064,222.523,318.099,436.790,922.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28755,399
$CAP_FILE_SIZE,72275,0
$CFSIZE,260165632,246763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240608,115259,2248.558,-15748.852,11,2.5,30,10.1