version: 66.03
glider: 146
mission: 2
dive: 373
start: 7 6 108 4 52 53
data:
$ID,146
$MISSION,2
$DIVE,373
$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,-13380.497
$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,32
$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
$GPS1,044629,2248.073,-15748.770,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.2
$GPS2,045235,2248.177,-15748.768,15,99.0,34,10.1
$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,220.4,514,-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,-52.80,0.000,2,0.000,0.000,466,1952,2840
$GC,79,-2.13,-73.9,3.2,-5.6,7,104,12.82,2.38,-5.10,0.000,4,0.179,0.064,2762,542,3079
$GC,234,-2.13,-73.9,39.0,-21.8,30,238,0.00,2.22,0.00,0.000,6,0.000,0.032,2762,1979,3081
$GC,502,-2.13,-73.9,89.1,-17.9,55,507,0.00,2.45,0.00,0.000,4,0.000,0.064,2762,553,3082
$GC,549,-2.13,-73.9,97.4,-18.2,59,553,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,1949,3082
$GC,812,-2.13,-73.9,142.5,-16.7,83,816,0.00,2.17,0.00,0.000,4,0.000,0.029,2762,3338,3084
$GC,882,-2.13,-73.9,154.4,-16.3,89,886,0.00,2.20,0.00,0.000,6,0.000,0.027,2762,1946,3084
$GC,1145,-2.13,-73.9,193.0,-13.0,113,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1946,3085
$GC,1409,-2.13,-73.9,228.9,-13.6,124,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1946,3086
$GC,1653,-2.13,-73.9,261.3,-13.3,130,1657,0.00,2.22,0.00,0.000,4,0.000,0.035,2762,3337,3086
$GC,1687,-2.13,-73.9,265.7,-12.3,130,1693,0.00,2.20,0.00,0.000,6,0.000,0.031,2762,1959,3086
$GC,1936,-2.13,-73.9,295.7,-12.1,137,1941,0.00,2.53,0.00,0.000,4,0.000,0.087,2762,552,3087
$GC,1952,-2.13,-73.9,297.7,-11.8,137,1957,0.00,2.22,0.00,0.000,6,0.000,0.041,2762,1931,3087
$GC,2220,-2.13,-73.9,328.6,-11.2,144,2224,0.00,2.33,0.00,0.000,4,0.000,0.046,2762,3358,3087
$GC,2253,-2.13,-73.9,332.3,-10.8,144,2259,0.00,2.30,0.00,0.000,6,0.000,0.041,2762,1951,3087
$GC,2503,-2.13,-73.9,359.2,-10.7,151,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1951,3087
$GC,2746,-2.13,-73.9,385.7,-11.1,157,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1950,3085
$GC,2991,-2.13,-73.9,411.0,-10.4,163,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1950,3084
$GC,3234,-2.13,-77.0,434.4,-9.5,169,3238,0.00,2.62,0.00,0.000,4,0.000,0.108,2762,545,3083
$GC,3260,-2.13,-77.0,437.1,-10.2,169,3265,0.00,2.33,0.00,0.000,6,0.000,0.051,2763,1938,3083
$GC,3512,-2.14,-82.4,460.1,-9.2,175,3516,0.00,2.53,0.00,0.000,4,0.000,0.094,2762,546,3081
$GC,3551,-2.14,-84.9,464.1,-9.6,176,3555,0.00,2.38,0.00,0.000,6,0.000,0.062,2762,1956,3081
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3758,-0.31,0.0,483.1,9.4,181,3825,1.83,0.00,63.20,0.899,6,0.096,0.000,3162,2058,2775
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3829,2.14,84.9,484.1,0.0,182,3911,2.17,2.50,70.70,0.881,4,0.028,0.074,3707,3454,2427
$GC,3939,2.14,84.9,477.4,12.5,184,3943,0.00,2.35,0.00,0.000,6,0.000,0.046,3707,2050,2426
$GC,4194,2.14,84.9,443.8,13.1,191,4198,0.00,2.35,0.00,0.000,4,0.000,0.045,3707,3462,2423
$GC,4221,2.14,84.9,440.5,11.9,191,4225,0.00,2.35,0.00,0.000,6,0.000,0.043,3707,2043,2422
$GC,4476,2.14,84.9,410.3,11.8,198,4481,0.00,2.55,0.00,0.000,4,0.000,0.098,3707,643,2421
$GC,4487,2.14,84.9,408.8,11.6,198,4491,0.00,2.33,0.00,0.000,6,0.000,0.042,3707,2064,2420
$GC,4753,2.14,84.9,379.0,11.2,205,4757,0.00,2.30,0.00,0.000,4,0.000,0.053,3707,3458,2418
$GC,5010,2.14,84.9,350.1,11.1,210,5014,0.00,2.30,0.00,0.000,6,0.000,0.038,3707,2041,2415
$GC,5260,2.14,88.0,325.3,9.5,216,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,2041,2414
$GC,5504,2.16,98.4,304.0,8.4,222,5519,0.00,2.35,9.82,0.732,4,0.000,0.037,3707,3466,2373
$GC,5772,2.16,98.4,277.1,10.6,228,5776,0.00,2.28,0.00,0.000,6,0.000,0.037,3707,2046,2371
$GC,6056,2.17,111.1,251.9,8.1,235,6074,0.00,2.38,11.55,0.715,4,0.000,0.035,3707,3463,2321
$GC,6328,2.18,119.1,228.8,8.8,241,6342,0.00,2.28,8.15,0.657,6,0.000,0.031,3707,2047,2288
$GC,6611,2.19,123.5,200.6,9.3,248,6620,0.00,2.30,4.93,0.545,4,0.000,0.035,3707,3458,2271
$GC,6875,2.19,129.0,174.6,9.2,269,6887,0.00,2.25,5.97,0.565,6,0.000,0.031,3707,2047,2249
$GC,7145,2.20,135.7,151.4,9.0,294,7159,0.00,2.30,7.45,0.584,4,0.000,0.038,3707,3466,2220
$GC,7408,2.20,135.7,123.1,10.5,317,7415,0.00,2.28,0.00,0.000,6,0.000,0.031,3707,2055,2220
$GC,7672,2.23,153.8,100.8,7.3,342,7698,0.00,2.33,16.15,0.599,4,0.000,0.041,3707,3456,2147
$GC,7704,2.25,170.2,98.2,7.5,344,7726,0.00,2.30,15.48,0.584,6,0.000,0.030,3707,2046,2080
$GC,7981,2.25,170.2,63.4,11.9,370,7985,0.00,2.28,0.00,0.000,4,0.000,0.037,3706,3460,2076
$GC,8234,2.25,170.2,34.5,11.0,392,8242,0.00,2.28,0.00,0.000,6,0.000,0.031,3707,2048,2076
$GC,8504,2.25,175.2,6.3,9.2,437,8520,0.00,2.40,5.10,0.414,4,0.000,0.058,3707,650,2060
$STATE,8543,end climb,SURFACE_DEPTH_REACHED
$STATE,8543,begin surface coast
$FINISH,0.6,1.023128
$STATE,8572,end surface coast,CONTROL_FINISHED_OK
$STATE,8572,begin surface
$SM_CCo,8597,116.72,0.528,0,0,1470,320.12
$SM_GC,1.24,0.00,0.00,116.72,0.000,0.000,0.528,469,1989,1470,-12.70,1.10,320.12
$IRIDIUM_FIX,2237.01,-15749.78,300997,020249
$TT8_MAMPS,0.026078
$HUMID,1622
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,23.10
$XPDR_PINGS,423
$24V_AH,23.7,46.906
$10V_AH,10.2,37.949
$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,29.975,88.525,218.500,116.725,0.000,27.390,29.493,158.506,116.000,0.000,0.000,36.901,938.166,5475.450,405.240,1822.511,444.489,0.000,1061.603,0.000,1767.050,0.000,66.481
$DEVICE_MAMPS,179.478,108.147,898.924,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.752,247.494,352.028,479.787,1011.532,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31963,448
$CAP_FILE_SIZE,81631,0
$CFSIZE,260165632,241836032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060708,071857,2248.436,-15749.030,9,1.9,9,10.1