version: 66.03
glider: 146
mission: 2
dive: 372
start: 7 6 108 2 16 35
data:
$ID,146
$MISSION,2
$DIVE,372
$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,-13342.965
$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,40
$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
$GPS1,021126,2248.216,-15748.901,39,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.9
$GPS2,021615,2248.245,-15748.940,14,1.6,14,10.1
$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,182.5,466,-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,-44.5,0.0,0.0,0,76,0.00,0.00,-52.90,0.000,2,0.000,0.000,468,1933,2845
$GC,79,-2.12,-70.7,3.4,-6.1,7,103,12.77,2.35,-4.68,0.000,4,0.179,0.071,2761,557,3065
$GC,171,-2.12,-70.7,25.7,-21.8,22,179,0.00,2.20,0.00,0.000,6,0.000,0.026,2761,1953,3067
$GC,438,-2.12,-70.7,75.8,-17.8,48,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1953,3069
$GC,692,-2.12,-70.7,116.7,-16.0,72,696,0.00,2.17,0.00,0.000,4,0.000,0.037,2761,3339,3070
$GC,733,-2.12,-70.7,123.4,-15.6,75,737,0.00,2.20,0.00,0.000,6,0.000,0.028,2761,1951,3070
$GC,998,-2.12,-70.7,165.7,-15.6,99,1002,0.00,2.20,0.00,0.000,4,0.000,0.031,2761,3337,3071
$GC,1044,-2.12,-70.7,173.2,-14.7,102,1052,0.00,2.22,0.00,0.000,6,0.000,0.028,2761,1947,3072
$GC,1336,-2.12,-70.7,212.4,-13.7,124,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1947,3073
$GC,1577,-2.12,-70.7,241.8,-12.1,130,1581,0.00,2.22,0.00,0.000,4,0.000,0.035,2761,3336,3073
$GC,1688,-2.12,-70.7,253.6,-10.3,132,1692,0.00,2.20,0.00,0.000,6,0.000,0.030,2761,1953,3073
$GC,1952,-2.12,-70.7,281.1,-10.9,139,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1953,3073
$GC,2194,-2.12,-70.7,310.4,-12.0,145,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1953,3074
$GC,2437,-2.12,-70.7,338.2,-11.2,151,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1953,3074
$GC,2682,-2.13,-74.6,362.2,-9.4,157,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1953,3072
$GC,2926,-2.13,-77.4,385.5,-9.6,163,2930,0.00,2.30,0.00,0.000,4,0.000,0.061,2761,3333,3071
$GC,2948,-2.13,-77.4,388.0,-10.8,163,2952,0.00,2.28,0.00,0.000,6,0.000,0.046,2761,1961,3071
$GC,3204,-2.13,-77.9,413.4,-9.9,170,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1960,3070
$GC,3447,-2.13,-78.5,437.2,-9.9,176,3451,0.00,2.65,0.00,0.000,4,0.000,0.117,2761,541,3069
$GC,3519,-2.13,-78.5,444.9,-11.4,177,3523,0.00,2.30,0.00,0.000,6,0.000,0.051,2761,1917,3068
$GC,3769,-2.13,-78.5,469.9,-10.0,183,3774,0.00,2.50,0.00,0.000,4,0.000,0.094,2761,538,3067
$GC,3792,-2.13,-78.5,472.5,-11.7,183,3796,0.00,2.38,0.00,0.000,6,0.000,0.052,2761,1957,3067
$STATE,3888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3888,begin apogee
$GC,3895,-0.31,0.0,482.5,10.1,186,3959,1.83,0.00,60.40,0.906,6,0.103,0.000,3160,2059,2775
$STATE,3960,end apogee,CONTROL_FINISHED_OK
$STATE,3960,begin climb
$GC,3963,2.13,78.5,483.5,0.0,187,4036,2.20,2.45,64.93,0.886,4,0.030,0.072,3702,3462,2456
$GC,4048,2.15,91.4,480.0,8.0,190,4068,0.00,2.38,12.57,0.798,6,0.000,0.045,3702,2045,2402
$GC,4336,2.15,91.4,441.0,14.0,197,4340,0.00,2.35,0.00,0.000,4,0.000,0.051,3702,3459,2397
$GC,4391,2.15,91.4,433.7,12.0,198,4396,0.00,2.35,0.00,0.000,6,0.000,0.043,3702,2051,2396
$GC,4658,2.15,91.4,400.0,12.6,205,4662,0.00,2.55,0.00,0.000,4,0.000,0.094,3702,644,2394
$GC,4679,2.15,91.4,397.0,13.1,205,4683,0.00,2.33,0.00,0.000,6,0.000,0.044,3701,2069,2394
$GC,4935,2.15,91.4,364.5,12.6,212,4939,0.00,2.28,0.00,0.000,4,0.000,0.051,3702,3453,2391
$GC,5177,2.15,91.4,335.8,10.3,217,5181,0.00,2.30,0.00,0.000,6,0.000,0.037,3702,2041,2390
$GC,5443,2.15,91.4,308.7,10.5,224,5447,0.00,2.30,0.00,0.000,4,0.000,0.041,3702,3456,2389
$GC,5500,2.15,91.4,303.0,10.2,225,5504,0.00,2.28,0.00,0.000,6,0.000,0.041,3702,2048,2389
$GC,5773,2.16,102.2,279.1,8.4,232,5787,0.00,2.35,7.72,0.690,4,0.000,0.044,3702,3456,2357
$GC,6041,2.16,102.2,253.4,10.2,238,6045,0.00,2.28,0.00,0.000,6,0.000,0.035,3702,2037,2356
$GC,6324,2.18,116.3,230.1,7.9,245,6344,0.00,2.38,12.90,0.710,4,0.000,0.037,3702,3459,2299
$GC,6401,2.18,116.3,223.0,10.0,246,6405,0.00,2.28,0.00,0.000,6,0.000,0.032,3702,2049,2299
$GC,6656,2.18,120.9,198.7,9.3,253,6668,0.00,2.30,4.95,0.547,4,0.000,0.036,3702,3459,2281
$GC,6918,2.20,132.6,176.2,8.2,276,6937,0.00,2.30,11.18,0.650,6,0.000,0.031,3702,2047,2233
$GC,7195,2.20,132.6,149.3,10.1,302,7199,0.00,2.28,0.00,0.000,4,0.000,0.038,3702,3459,2232
$GC,7260,2.21,137.3,143.4,9.3,307,7272,0.00,2.25,5.30,0.520,6,0.000,0.034,3702,2049,2215
$GC,7530,2.21,141.8,116.4,9.3,332,7544,0.00,2.30,5.35,0.500,4,0.000,0.031,3702,3458,2197
$GC,7624,2.21,145.4,106.9,9.5,340,7638,0.00,2.25,5.03,0.478,6,0.000,0.034,3702,2044,2181
$GC,7895,2.21,145.4,83.0,10.1,365,7899,0.00,2.28,0.00,0.000,4,0.000,0.032,3702,3463,2181
$GC,7926,2.21,145.4,79.8,10.3,367,7930,0.00,2.22,0.00,0.000,6,0.000,0.031,3702,2050,2181
$GC,8196,2.22,146.2,54.6,9.9,392,8200,0.00,2.25,0.00,0.000,4,0.000,0.033,3702,3459,2181
$GC,8248,2.24,163.0,49.7,7.5,396,8275,0.00,2.25,16.38,0.554,6,0.000,0.036,3702,2043,2108
$GC,8531,2.25,175.6,28.2,8.1,423,8548,0.00,2.35,11.60,0.512,4,0.000,0.039,3702,3457,2058
$STATE,8757,end climb,SURFACE_DEPTH_REACHED
$STATE,8757,begin surface coast
$FINISH,0.5,1.010986
$STATE,8780,end surface coast,CONTROL_FINISHED_OK
$STATE,8780,begin surface
$SM_CCo,8806,116.05,0.526,0,0,1470,320.12
$SM_GC,1.06,0.00,0.00,116.05,0.000,0.000,0.526,465,1952,1470,-12.71,0.06,320.12
$IRIDIUM_FIX,2239.35,-15751.94,290997,232310
$TT8_MAMPS,0.025311
$HUMID,1607
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,23.20
$XPDR_PINGS,432
$24V_AH,23.7,46.814
$10V_AH,10.2,37.852
$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,29.875,92.625,218.300,116.050,0.000,25.572,27.934,125.940,118.250,0.000,0.000,15.672,958.687,5657.050,407.633,1803.390,393.796,0.000,1055.260,0.000,1774.576,0.000,64.734
$DEVICE_MAMPS,179.478,116.584,905.827,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.156,261.578,370.539,507.288,1068.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35063,467
$CAP_FILE_SIZE,82867,0
$CFSIZE,260165632,241868800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,060708,044629,2248.073,-15748.770,10,99.0,29,10.1