version: 66.03
glider: 146
mission: 2
dive: 284
start: 6 27 108 1 40 54
data:
$ID,146
$MISSION,2
$DIVE,284
$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,-11286.547
$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,38
$R_STBD_OVSHOOT,45
$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
$GPS1,013607,2248.759,-15748.919,28,1.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.0
$GPS2,014033,2248.794,-15748.932,10,1.6,10,10.1
$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,174.5,1475,-30.5,-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,-1.97,-50.5,0.0,0.0,0,75,0.00,0.00,-52.95,0.000,2,0.000,0.000,462,1936,2819
$GC,78,-2.00,-78.5,3.2,-6.3,7,103,13.00,2.40,-6.00,0.000,4,0.180,0.069,2787,562,3095
$GC,219,-2.00,-78.5,34.7,-22.0,30,224,0.00,2.20,0.00,0.000,6,0.000,0.026,2787,1967,3098
$GC,482,-2.00,-78.5,85.7,-16.3,54,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1968,3099
$GC,737,-2.00,-78.5,129.3,-16.0,78,742,0.00,2.17,0.00,0.000,4,0.000,0.038,2787,3346,3100
$GC,773,-2.00,-78.5,134.3,-13.9,81,777,0.00,2.22,0.00,0.000,6,0.000,0.032,2787,1947,3100
$GC,1039,-2.00,-78.5,170.0,-12.8,105,1043,0.00,2.22,0.00,0.000,4,0.000,0.031,2787,3347,3101
$GC,1092,-2.00,-78.5,177.4,-12.4,109,1096,0.00,2.22,0.00,0.000,6,0.000,0.028,2787,1946,3101
$GC,1370,-2.00,-78.5,209.3,-10.3,129,1374,0.00,2.42,0.00,0.000,4,0.000,0.077,2787,560,3103
$GC,1424,-2.00,-78.5,216.0,-12.5,130,1428,0.00,2.22,0.00,0.000,6,0.000,0.038,2787,1950,3103
$GC,1698,-2.00,-78.5,247.1,-11.3,137,1702,0.00,2.22,0.00,0.000,4,0.000,0.041,2787,3351,3104
$GC,1742,-2.00,-78.5,252.2,-10.7,138,1746,0.00,2.25,0.00,0.000,6,0.000,0.040,2787,1949,3103
$GC,2026,-2.01,-83.1,279.9,-9.4,145,2034,0.00,2.25,0.00,0.000,4,0.000,0.039,2787,3345,3104
$GC,2061,-2.02,-88.8,283.1,-9.2,145,2066,0.00,2.25,0.00,0.000,6,0.000,0.034,2787,1950,3104
$GC,2311,-2.02,-94.8,305.5,-9.2,151,2315,0.00,2.53,0.00,0.000,4,0.000,0.089,2787,543,3104
$GC,2428,-2.02,-94.8,317.9,-10.2,153,2433,0.00,2.33,0.00,0.000,6,0.000,0.048,2787,1935,3104
$GC,2687,-2.02,-95.1,343.5,-10.0,160,2691,0.00,2.47,0.00,0.000,4,0.000,0.084,2787,546,3103
$GC,2702,-2.02,-95.3,345.4,-10.0,160,2706,0.00,2.33,0.00,0.000,6,0.000,0.048,2787,1948,3103
$GC,2970,-2.02,-95.3,372.6,-10.4,167,2974,0.00,2.50,0.00,0.000,4,0.000,0.089,2787,548,3102
$GC,3002,-2.02,-95.3,376.2,-10.8,167,3008,0.00,2.35,0.00,0.000,6,0.000,0.051,2787,1954,3102
$GC,3253,-2.03,-101.4,400.0,-9.2,174,3257,0.00,2.35,0.00,0.000,4,0.000,0.059,2787,3361,3101
$GC,3274,-2.03,-101.4,402.5,-10.2,174,3278,0.00,2.35,0.00,0.000,6,0.000,0.047,2787,1953,3101
$GC,3536,-2.04,-109.5,426.8,-8.9,181,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1953,3099
$GC,3779,-2.05,-117.2,448.7,-9.0,187,3784,0.00,2.65,0.00,0.000,4,0.000,0.120,2787,539,3098
$GC,3801,-2.05,-117.2,451.0,-10.5,187,3805,0.00,2.38,0.00,0.000,6,0.000,0.055,2787,1948,3098
$GC,4062,-2.06,-120.8,475.4,-9.5,194,4066,0.00,2.45,0.00,0.000,4,0.000,0.084,2787,3360,3096
$STATE,4110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4110,begin apogee
$GC,4117,-0.31,0.0,480.4,9.8,195,4189,1.67,0.00,65.95,0.910,6,0.094,0.000,3157,2049,2775
$STATE,4190,end apogee,CONTROL_FINISHED_OK
$STATE,4190,begin climb
$GC,4192,2.06,120.8,481.9,0.0,197,4303,2.12,2.67,100.47,0.890,4,0.032,0.097,3687,647,2281
$GC,4316,2.06,120.8,473.8,15.2,200,4320,0.00,2.40,0.00,0.000,6,0.000,0.049,3687,2055,2279
$GC,4599,2.06,120.8,423.2,18.0,207,4603,0.00,2.40,0.00,0.000,4,0.000,0.058,3687,3464,2274
$GC,4710,2.06,120.8,402.5,16.9,209,4714,0.00,2.33,0.00,0.000,6,0.000,0.040,3687,2047,2273
$GC,4971,2.06,120.8,357.2,17.2,216,4975,0.00,2.33,0.00,0.000,4,0.000,0.044,3687,3467,2271
$GC,5228,2.06,120.8,315.6,14.7,221,5234,0.00,2.33,0.00,0.000,6,0.000,0.038,3687,2038,2268
$GC,5478,2.06,120.8,282.2,13.3,228,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3687,2037,2267
$GC,5722,2.06,120.8,252.5,12.0,234,5726,0.00,2.35,0.00,0.000,4,0.000,0.045,3687,3475,2264
$GC,5979,2.06,120.8,222.1,10.5,239,5985,0.00,2.30,0.00,0.000,6,0.000,0.035,3687,2038,2263
$GC,6233,2.06,120.8,194.3,11.6,249,6237,0.00,2.33,0.00,0.000,4,0.000,0.036,3687,3477,2262
$GC,6357,2.06,125.9,180.4,9.3,260,6362,0.00,2.28,0.00,0.000,6,0.000,0.033,3687,2048,2261
$GC,6618,2.08,144.6,158.1,7.5,284,6640,0.00,2.47,16.80,0.668,4,0.000,0.063,3687,650,2185
$GC,6654,2.10,153.8,155.3,8.8,287,6668,0.00,2.28,9.38,0.613,6,0.000,0.036,3687,2077,2147
$GC,6934,2.10,153.8,125.1,10.6,313,6938,0.00,2.20,0.00,0.000,4,0.000,0.039,3687,3451,2144
$GC,7153,2.10,153.8,101.7,11.1,332,7157,0.00,2.22,0.00,0.000,6,0.000,0.041,3687,2049,2143
$GC,7417,2.10,158.7,74.2,9.4,356,7431,0.00,2.28,5.03,0.465,4,0.000,0.032,3687,3448,2127
$GC,7555,2.11,166.9,61.7,8.9,368,7570,0.00,2.22,8.62,0.525,6,0.000,0.034,3687,2043,2094
$GC,7825,2.11,166.9,36.8,10.0,393,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,3687,2044,2093
$GC,8094,2.11,166.9,6.2,12.6,436,8101,0.00,2.35,0.00,0.000,4,0.000,0.057,3687,661,2094
$STATE,8123,end climb,SURFACE_DEPTH_REACHED
$STATE,8123,begin surface coast
$FINISH,0.7,1.021915
$STATE,8146,end surface coast,CONTROL_FINISHED_OK
$STATE,8146,begin surface
$SM_CCo,8171,124.25,0.528,0,0,1470,320.12
$SM_GC,1.39,0.00,0.00,124.25,0.000,0.000,0.528,465,1984,1470,-12.72,0.96,320.12
$IRIDIUM_FIX,2241.69,-15751.94,200997,232358
$TT8_MAMPS,0.026078
$HUMID,1582
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,22.80
$XPDR_PINGS,424
$24V_AH,23.8,38.801
$10V_AH,10.2,29.456
$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,29.875,97.750,206.250,124.250,0.000,25.384,27.956,115.572,116.250,0.000,0.000,11.874,921.621,5128.161,405.561,1776.984,339.021,0.000,1045.639,0.000,1751.210,0.000,64.400
$DEVICE_MAMPS,180.245,119.652,910.429,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.689,253.220,358.150,490.082,1033.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32039,445
$CAP_FILE_SIZE,80525,0
$CFSIZE,260165632,245628928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,270608,040017,2248.722,-15748.803,8,99.0,27,10.1