version: 66.03
glider: 146
mission: 2
dive: 291
start: 6 27 108 18 39 24
data:
$ID,146
$MISSION,2
$DIVE,291
$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,-11444.895
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,183437,2248.510,-15748.952,8,1.2,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.2
$GPS2,183903,2248.540,-15748.983,12,1.2,12,10.1
$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,171.5,1000,-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,-52.70,0.000,2,0.000,0.000,465,1946,2814
$GC,78,-2.13,-73.1,3.1,-5.7,7,102,12.68,2.40,-5.78,0.000,4,0.176,0.072,2760,545,3075
$GC,208,-2.13,-73.1,34.0,-24.6,28,212,0.00,2.22,0.00,0.000,6,0.000,0.028,2759,1962,3078
$GC,473,-2.13,-73.1,90.5,-19.3,52,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1963,3078
$GC,736,-2.13,-73.1,136.1,-16.1,77,739,0.00,2.45,0.00,0.000,4,0.000,0.077,2759,554,3080
$GC,763,-2.13,-73.1,140.1,-16.3,79,767,0.00,2.20,0.00,0.000,6,0.000,0.033,2759,1950,3080
$GC,1029,-2.13,-73.1,178.3,-12.6,103,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1951,3081
$GC,1316,-2.13,-73.1,216.4,-12.8,122,1319,0.00,2.20,0.00,0.000,4,0.000,0.032,2759,3338,3083
$GC,1410,-2.13,-73.1,227.8,-11.7,124,1414,0.00,2.22,0.00,0.000,6,0.000,0.031,2759,1948,3083
$GC,1694,-2.13,-73.1,259.2,-11.0,131,1698,0.00,2.25,0.00,0.000,4,0.000,0.037,2759,3337,3084
$GC,1743,-2.13,-73.1,265.1,-11.6,132,1747,0.00,2.25,0.00,0.000,6,0.000,0.035,2759,1949,3084
$GC,2021,-2.13,-73.1,297.2,-11.8,139,2025,0.00,2.25,0.00,0.000,4,0.000,0.041,2759,3335,3084
$GC,2031,-2.13,-73.1,298.4,-11.2,139,2035,0.00,2.25,0.00,0.000,6,0.000,0.036,2760,1944,3084
$GC,2303,-2.13,-73.1,328.3,-10.8,146,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1944,3085
$GC,2548,-2.13,-73.1,353.1,-10.2,152,2552,0.00,2.30,0.00,0.000,4,0.000,0.046,2759,3337,3084
$GC,2631,-2.13,-73.1,361.7,-10.6,154,2636,0.00,2.30,0.00,0.000,6,0.000,0.045,2759,1952,3084
$GC,2915,-2.13,-73.1,392.9,-11.2,161,2920,0.00,2.60,0.00,0.000,4,0.000,0.105,2759,539,3082
$GC,2965,-2.13,-73.1,398.9,-11.7,162,2969,0.00,2.30,0.00,0.000,6,0.000,0.051,2759,1918,3082
$GC,3237,-2.13,-73.1,428.4,-10.5,169,3241,0.00,2.50,0.00,0.000,4,0.000,0.092,2759,541,3080
$GC,3254,-2.13,-73.1,430.3,-10.3,169,3259,0.00,2.38,0.00,0.000,6,0.000,0.054,2759,1955,3080
$GC,3515,-2.13,-73.1,457.4,-10.2,176,3519,0.00,2.40,0.00,0.000,4,0.000,0.071,2759,3359,3079
$GC,3581,-2.13,-73.1,464.3,-11.0,177,3585,0.00,2.38,0.00,0.000,6,0.000,0.061,2759,1953,3078
$STATE,3759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3759,begin apogee
$GC,3766,-0.31,0.0,481.4,9.5,182,3832,1.83,0.00,62.65,0.904,6,0.093,0.000,3160,2067,2775
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin climb
$GC,3835,2.13,73.1,482.3,0.0,183,3905,2.17,2.40,61.30,0.883,4,0.030,0.058,3704,3437,2475
$GC,3917,2.14,82.2,477.9,8.6,185,3932,0.00,2.35,9.18,0.757,6,0.000,0.048,3704,2044,2439
$GC,4205,2.14,82.2,435.9,14.8,192,4209,0.00,2.35,0.00,0.000,4,0.000,0.054,3704,3448,2435
$GC,4398,2.14,82.2,409.5,12.8,196,4403,0.00,2.33,0.00,0.000,6,0.000,0.042,3704,2048,2432
$GC,4665,2.14,82.2,380.1,10.7,203,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2048,2430
$GC,4909,2.15,94.3,359.2,8.2,209,4923,0.00,2.35,9.88,0.763,4,0.000,0.046,3704,3453,2390
$GC,4940,2.17,107.3,356.7,8.0,209,4959,0.00,2.30,12.50,0.775,6,0.000,0.039,3704,2046,2336
$GC,5233,2.17,107.3,322.3,12.6,217,5237,0.00,2.30,0.00,0.000,4,0.000,0.038,3704,3453,2333
$GC,5490,2.17,107.3,289.5,10.8,222,5496,0.00,2.28,0.00,0.000,6,0.000,0.041,3704,2046,2331
$GC,5740,2.17,107.3,259.1,12.4,229,5744,0.00,2.30,0.00,0.000,4,0.000,0.040,3704,3462,2330
$GC,5997,2.17,112.6,233.2,9.2,234,6007,0.00,2.30,4.28,0.531,6,0.000,0.038,3704,2041,2316
$GC,6292,2.19,126.5,208.8,7.9,242,6311,0.00,2.35,13.07,0.704,4,0.000,0.038,3704,3445,2258
$GC,6564,2.20,129.4,182.1,9.6,257,6574,0.00,2.22,3.58,0.440,6,0.000,0.033,3704,2048,2247
$GC,6840,2.20,129.4,154.1,10.8,283,6844,0.00,2.28,0.00,0.000,4,0.000,0.038,3704,3457,2247
$GC,7093,2.20,132.2,127.5,9.6,305,7102,0.00,2.30,3.90,0.439,6,0.000,0.038,3704,2049,2235
$GC,7355,2.22,148.6,107.0,7.5,330,7382,0.00,2.45,15.02,0.610,4,0.000,0.066,3704,655,2168
$GC,7629,2.22,150.1,78.0,9.8,354,7637,0.00,2.22,0.00,0.000,6,0.000,0.031,3704,2053,2167
$GC,7892,2.24,168.7,56.9,7.2,379,7918,0.00,2.42,18.10,0.564,4,0.000,0.062,3704,658,2086
$GC,8119,2.24,168.7,33.1,11.8,399,8123,0.00,2.20,0.00,0.000,6,0.000,0.032,3704,2056,2084
$STATE,8376,end climb,SURFACE_DEPTH_REACHED
$STATE,8376,begin surface coast
$FINISH,0.7,1.023274
$STATE,8399,end surface coast,CONTROL_FINISHED_OK
$STATE,8399,begin surface
$SM_CCo,8422,122.28,0.528,0,0,1470,320.12
$SM_GC,1.37,0.00,0.00,122.28,0.000,0.000,0.528,468,1941,1470,-12.70,-0.25,320.12
$IRIDIUM_FIX,2239.35,-15749.78,210997,161648
$TT8_MAMPS,0.026078
$HUMID,1571
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.10
$XPDR_PINGS,427
$24V_AH,23.8,39.431
$10V_AH,10.2,30.112
$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,29.750,83.900,213.450,122.275,0.000,30.900,35.755,102.038,117.000,0.000,0.000,13.627,946.443,5239.255,401.737,1889.646,344.036,0.000,1081.861,0.000,1856.338,0.000,64.729
$DEVICE_MAMPS,176.410,105.079,904.293,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.702,246.978,354.196,486.654,1027.240,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31989,447
$CAP_FILE_SIZE,81280,0
$CFSIZE,260165632,245334016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270608,210259,2248.481,-15749.190,10,5.2,29,10.1