version: 66.03
glider: 146
mission: 2
dive: 320
start: 6 30 108 18 14 34
data:
$ID,146
$MISSION,2
$DIVE,320
$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,-12139.286
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,180938,2248.211,-15749.159,36,2.0,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.5
$GPS2,181414,2248.213,-15749.174,14,1.9,31,10.1
$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,132.9,493,-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,18,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,75,0.00,0.00,-52.70,0.000,2,0.000,0.000,467,1919,2828
$GC,78,-2.11,-62.5,3.5,-7.3,7,103,12.77,2.28,-4.35,0.000,4,0.179,0.077,2762,577,3033
$GC,297,-2.11,-62.5,54.6,-23.6,36,301,0.00,2.17,0.00,0.000,6,0.000,0.036,2762,1964,3035
$GC,562,-2.11,-62.5,100.4,-16.3,60,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1965,3037
$GC,826,-2.11,-62.5,143.6,-16.3,85,830,0.00,2.42,0.00,0.000,4,0.000,0.074,2763,575,3038
$GC,845,-2.11,-62.5,146.6,-15.7,86,849,0.00,2.15,0.00,0.000,6,0.000,0.031,2762,1959,3038
$GC,1105,-2.11,-62.5,183.2,-13.3,110,1110,0.00,2.42,0.00,0.000,4,0.000,0.072,2763,577,3040
$GC,1125,-2.11,-62.5,185.4,-12.9,111,1129,0.00,2.15,0.00,0.000,6,0.000,0.035,2762,1941,3040
$GC,1411,-2.11,-62.5,222.4,-12.9,126,1415,0.00,2.38,0.00,0.000,4,0.000,0.075,2763,582,3041
$GC,1438,-2.11,-62.5,226.1,-12.9,126,1442,0.00,2.17,0.00,0.000,6,0.000,0.039,2762,1944,3041
$GC,1695,-2.11,-62.5,253.6,-10.7,133,1699,0.00,2.22,0.00,0.000,4,0.000,0.036,2762,3344,3042
$GC,1722,-2.11,-62.5,256.5,-10.0,133,1726,0.00,2.17,0.00,0.000,6,0.000,0.030,2762,1981,3042
$GC,1980,-2.11,-63.0,282.1,-9.9,140,1984,0.00,2.58,0.00,0.000,4,0.000,0.089,2763,548,3042
$GC,2000,-2.11,-63.0,284.7,-10.9,140,2005,0.00,2.28,0.00,0.000,6,0.000,0.043,2763,1944,3042
$GC,2263,-2.11,-63.8,310.8,-9.9,147,2267,0.00,2.28,0.00,0.000,4,0.000,0.044,2763,3355,3042
$GC,2279,-2.12,-66.2,312.5,-9.6,147,2283,0.00,2.28,0.00,0.000,6,0.000,0.038,2762,1949,3042
$GC,2545,-2.12,-66.3,338.5,-10.0,154,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1949,3042
$GC,2790,-2.12,-66.3,363.2,-10.0,160,2794,0.00,2.55,0.00,0.000,4,0.000,0.099,2762,549,3041
$GC,2811,-2.12,-66.4,365.5,-10.0,160,2816,0.00,2.30,0.00,0.000,6,0.000,0.049,2762,1941,3040
$GC,3067,-2.12,-66.4,392.1,-10.3,167,3071,0.00,2.35,0.00,0.000,4,0.000,0.054,2762,3363,3039
$GC,3083,-2.12,-66.4,393.9,-10.2,167,3088,0.00,2.33,0.00,0.000,6,0.000,0.048,2762,1950,3039
$GC,3345,-2.12,-66.5,420.1,-10.0,174,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1948,3038
$GC,3591,-2.12,-70.7,443.1,-9.4,180,3595,0.00,2.35,0.00,0.000,4,0.000,0.054,2763,3355,3036
$GC,3659,-2.13,-76.1,449.8,-9.2,181,3663,0.00,2.35,0.00,0.000,6,0.000,0.058,2762,1952,3036
$GC,3914,-2.14,-80.5,474.1,-9.3,188,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1952,3034
$STATE,3992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3993,begin apogee
$GC,3999,-0.31,0.0,481.9,9.5,190,4057,1.80,0.00,54.20,0.908,6,0.099,0.000,3158,2065,2775
$STATE,4058,end apogee,CONTROL_FINISHED_OK
$STATE,4058,begin climb
$GC,4060,2.14,80.5,483.0,0.0,191,4135,2.17,2.40,67.15,0.891,4,0.031,0.063,3702,3444,2446
$GC,4158,2.14,85.0,478.8,9.3,193,4168,0.00,2.38,5.20,0.641,6,0.000,0.049,3702,2049,2428
$GC,4423,2.14,85.0,445.8,12.4,200,4427,0.00,2.35,0.00,0.000,4,0.000,0.050,3702,3446,2425
$GC,4529,2.14,85.0,432.4,12.1,202,4534,0.00,2.33,0.00,0.000,6,0.000,0.045,3702,2047,2423
$GC,4790,2.14,85.0,399.5,12.6,209,4794,0.00,2.33,0.00,0.000,4,0.000,0.048,3702,3455,2422
$GC,5048,2.14,85.0,366.4,12.2,214,5052,0.00,2.30,0.00,0.000,6,0.000,0.039,3702,2039,2419
$GC,5298,2.14,85.0,339.2,10.9,220,5302,0.00,2.30,0.00,0.000,4,0.000,0.044,3702,3449,2418
$GC,5556,2.15,89.1,313.4,9.4,225,5562,0.00,2.28,0.00,0.000,6,0.000,0.035,3702,2048,2416
$GC,5806,2.16,98.6,291.1,8.6,232,5821,0.00,2.33,10.40,0.743,4,0.000,0.044,3702,3456,2372
$GC,5979,2.16,98.7,275.2,10.0,236,5983,0.00,2.28,0.00,0.000,6,0.000,0.038,3702,2049,2370
$GC,6263,2.18,114.9,251.6,7.6,243,6282,0.00,2.33,14.40,0.745,4,0.000,0.044,3702,3451,2306
$GC,6535,2.19,124.5,219.6,8.6,249,6549,0.00,2.28,9.45,0.685,6,0.000,0.038,3702,2047,2267
$GC,6799,2.19,124.5,190.8,11.6,260,6803,0.00,2.28,0.00,0.000,4,0.000,0.040,3702,3452,2264
$GC,7057,2.19,128.3,163.4,9.4,282,7067,0.00,2.28,4.35,0.499,6,0.000,0.031,3702,2052,2250
$GC,7333,2.21,140.2,137.6,8.2,308,7349,0.00,2.33,11.25,0.632,4,0.000,0.041,3702,3455,2202
$GC,7494,2.21,142.3,121.4,9.7,322,7498,0.00,2.25,0.00,0.000,6,0.000,0.038,3702,2041,2201
$GC,7757,2.21,145.4,94.8,9.5,346,7771,0.00,2.33,5.65,0.506,4,0.000,0.035,3702,3456,2181
$GC,7840,2.21,145.4,85.7,12.1,353,7844,0.00,2.25,0.00,0.000,6,0.000,0.035,3702,2042,2182
$GC,8109,2.23,159.2,60.3,7.9,378,8127,0.00,2.30,13.50,0.565,4,0.000,0.035,3702,3454,2124
$GC,8374,2.25,174.9,36.9,7.6,401,8396,0.00,2.25,14.38,0.543,6,0.000,0.034,3702,2050,2060
$GC,8655,2.25,174.9,8.6,10.5,445,8662,0.00,2.28,0.00,0.000,4,0.000,0.043,3702,3448,2058
$STATE,8701,end climb,SURFACE_DEPTH_REACHED
$STATE,8701,begin surface coast
$FINISH,0.5,1.022859
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8750,116.90,0.532,0,0,1469,320.12
$SM_GC,1.16,0.00,0.00,116.90,0.000,0.000,0.532,471,1949,1469,-12.69,-0.03,320.12
$IRIDIUM_FIX,2239.35,-15749.78,240997,151510
$TT8_MAMPS,0.026078
$HUMID,1582
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,22.70
$XPDR_PINGS,420
$ALTIM_BOTTOM_PING,443.1,2.5
$24V_AH,23.7,42.032
$10V_AH,10.2,32.900
$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,29.925,97.150,209.925,116.900,0.000,24.313,24.074,108.660,114.500,0.000,0.000,32.592,962.909,5538.846,390.016,1907.872,352.682,0.000,1076.955,0.000,1859.333,0.000,61.085
$DEVICE_MAMPS,178.711,98.943,908.128,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.984,250.562,359.239,493.508,1039.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34979,457
$CAP_FILE_SIZE,85509,0
$CFSIZE,260165632,244084736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,300608,204329,2248.199,-15748.606,8,3.2,27,10.1