version: 66.03
glider: 146
mission: 2
dive: 339
start: 7 2 108 17 25 53
data:
$ID,146
$MISSION,2
$DIVE,339
$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,-12537.788
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,172102,2248.715,-15749.046,39,1.7,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.5
$GPS2,172532,2248.732,-15749.030,10,2.0,15,10.1
$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,167.7,1357,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.09,-44.5,0.0,0.0,0,82,0.00,0.00,-56.65,0.000,6,0.000,0.000,468,1931,2957
$GC,85,-2.12,-69.7,3.9,-6.2,8,110,12.88,2.38,-2.08,0.000,4,0.182,0.073,2761,571,3063
$GC,261,-2.12,-69.7,48.7,-22.5,31,265,0.00,2.20,0.00,0.000,6,0.000,0.035,2761,1966,3065
$GC,524,-2.12,-69.7,97.9,-17.2,55,528,0.00,2.17,0.00,0.000,4,0.000,0.031,2761,3346,3066
$GC,619,-2.12,-69.7,112.5,-15.0,63,623,0.00,2.20,0.00,0.000,6,0.000,0.029,2762,1967,3066
$GC,887,-2.12,-69.7,153.6,-15.6,88,890,0.00,2.17,0.00,0.000,4,0.000,0.029,2761,3344,3068
$GC,1000,-2.12,-69.7,170.5,-14.5,98,1004,0.00,2.22,0.00,0.000,6,0.000,0.029,2761,1949,3068
$GC,1260,-2.12,-69.7,205.7,-13.1,119,1263,0.00,2.22,0.00,0.000,4,0.000,0.031,2762,3355,3069
$GC,1360,-2.12,-69.7,218.3,-11.8,121,1364,0.00,2.25,0.00,0.000,6,0.000,0.030,2761,1947,3069
$GC,1632,-2.12,-69.7,248.8,-10.9,128,1636,0.00,2.25,0.00,0.000,4,0.000,0.035,2761,3348,3070
$GC,1721,-2.12,-69.7,259.1,-10.7,130,1725,0.00,2.25,0.00,0.000,6,0.000,0.034,2761,1953,3070
$GC,2006,-2.12,-69.7,290.1,-10.7,137,2010,0.00,2.53,0.00,0.000,4,0.000,0.089,2761,549,3071
$GC,2106,-2.12,-69.7,302.0,-12.0,139,2110,0.00,2.25,0.00,0.000,6,0.000,0.044,2761,1929,3071
$GC,2372,-2.12,-69.7,329.6,-10.3,146,2377,0.00,2.47,0.00,0.000,4,0.000,0.089,2761,552,3071
$GC,2404,-2.12,-69.7,333.5,-11.4,146,2408,0.00,2.33,0.00,0.000,6,0.000,0.048,2761,1957,3071
$GC,2660,-2.12,-72.2,358.4,-9.6,153,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1957,3070
$GC,2905,-2.13,-72.3,382.6,-10.0,159,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1957,3069
$GC,3149,-2.13,-72.3,407.1,-10.1,165,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1957,3068
$GC,3392,-2.13,-72.3,432.4,-10.1,171,3396,0.00,2.38,0.00,0.000,4,0.000,0.064,2761,3361,3066
$GC,3408,-2.13,-73.4,434.2,-9.8,171,3412,0.00,2.35,0.00,0.000,6,0.000,0.060,2761,1959,3066
$GC,3674,-2.13,-76.8,459.4,-9.5,178,3682,0.00,2.35,0.00,0.000,4,0.000,0.057,2762,3358,3064
$GC,3710,-2.13,-76.8,463.0,-10.2,178,3714,0.00,2.38,0.00,0.000,6,0.000,0.064,2761,1952,3064
$STATE,3917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3917,begin apogee
$GC,3924,-0.31,0.0,482.3,9.2,183,3988,1.83,0.00,60.03,0.905,6,0.101,0.000,3161,2062,2775
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3991,2.13,76.8,483.2,0.0,184,4064,2.15,2.40,64.22,0.885,4,0.034,0.057,3702,3445,2460
$GC,4086,2.13,80.3,478.8,9.5,186,4095,0.00,2.40,4.22,0.564,6,0.000,0.051,3702,2043,2447
$GC,4358,2.13,80.3,444.4,12.5,193,4362,0.00,2.38,0.00,0.000,4,0.000,0.054,3702,3451,2443
$GC,4615,2.13,80.3,412.7,12.4,198,4621,0.00,2.33,0.00,0.000,6,0.000,0.052,3702,2050,2441
$GC,4865,2.13,80.3,386.1,10.7,205,4869,0.00,2.33,0.00,0.000,4,0.000,0.048,3701,3452,2440
$GC,5057,2.14,82.9,366.6,9.6,209,5061,0.00,2.33,0.00,0.000,6,0.000,0.048,3702,2043,2438
$GC,5328,2.14,82.9,339.3,10.0,216,5332,0.00,2.30,0.00,0.000,4,0.000,0.043,3702,3453,2436
$GC,5586,2.15,92.3,313.8,8.6,221,5601,0.00,2.30,9.02,0.736,6,0.000,0.040,3702,2047,2399
$GC,5881,2.16,99.4,286.9,8.9,229,5890,0.00,0.00,7.40,0.690,6,0.000,0.000,3702,2047,2369
$GC,6163,2.16,99.4,257.8,10.1,236,6167,0.00,2.45,0.00,0.000,4,0.000,0.073,3702,643,2367
$GC,6393,2.17,105.0,235.3,9.1,241,6404,0.00,2.28,5.85,0.617,6,0.000,0.040,3701,2069,2346
$GC,6665,2.19,124.7,214.6,7.0,248,6689,0.00,2.33,17.60,0.718,4,0.000,0.038,3701,3462,2266
$GC,6941,2.19,124.7,183.1,10.8,264,6946,0.00,2.30,0.00,0.000,6,0.000,0.035,3702,2039,2264
$GC,7203,2.19,128.6,160.2,9.4,288,7217,0.00,2.33,4.47,0.499,4,0.000,0.036,3702,3445,2249
$GC,7343,2.19,128.6,145.6,10.8,300,7352,0.00,2.28,0.00,0.000,6,0.000,0.037,3702,2045,2248
$GC,7608,2.21,140.7,122.4,8.2,325,7627,0.00,0.00,11.10,0.607,6,0.000,0.000,3702,2045,2201
$GC,7883,2.21,145.0,95.1,9.4,351,7897,0.00,2.30,5.25,0.489,4,0.000,0.035,3702,3442,2183
$GC,8145,2.21,145.0,67.8,11.2,374,8153,0.00,2.25,0.00,0.000,6,0.000,0.034,3702,2049,2183
$GC,8408,2.26,178.9,48.7,4.9,399,8447,0.00,2.33,29.65,0.571,4,0.000,0.041,3701,3448,2044
$GC,8551,2.26,178.9,36.6,10.3,411,8559,0.00,2.30,0.00,0.000,6,0.000,0.034,3702,2044,2042
$GC,8821,2.26,178.9,5.9,10.8,454,8829,0.00,2.38,0.00,0.000,4,0.000,0.064,3702,653,2039
$STATE,8841,end climb,SURFACE_DEPTH_REACHED
$STATE,8841,begin surface coast
$FINISH,0.6,1.023082
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8864,begin surface
$SM_CCo,8890,112.82,0.532,0,0,1469,320.12
$SM_GC,1.07,0.00,0.00,112.82,0.000,0.000,0.532,466,1980,1469,-12.71,0.85,320.12
$IRIDIUM_FIX,2239.35,-15751.94,260997,141440
$TT8_MAMPS,0.026078
$HUMID,1603
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,22.70
$XPDR_PINGS,449
$24V_AH,23.7,43.781
$10V_AH,10.2,34.724
$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,30.025,87.850,218.825,112.825,0.000,31.024,24.273,107.933,122.500,0.000,0.000,16.531,981.324,5569.086,403.273,1967.178,361.753,0.000,1127.732,0.000,1931.398,0.000,64.740
$DEVICE_MAMPS,181.779,88.972,905.060,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.578,252.980,363.326,496.948,1049.306,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35032,461
$CAP_FILE_SIZE,84323,0
$CFSIZE,260165632,243273728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020708,195645,2248.780,-15748.981,9,1.7,9,10.1