version: 66.03
glider: 146
mission: 2
dive: 377
start: 7 6 108 14 43 34
data:
$ID,146
$MISSION,2
$DIVE,377
$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,-13454.122
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,143823,2248.030,-15748.962,14,99.0,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.1
$GPS2,144314,2248.045,-15748.983,12,1.5,29,10.1
$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,188.7,88,-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,-52.50,0.000,2,0.000,0.000,467,1940,2822
$GC,79,-2.13,-73.5,3.2,-5.6,7,104,12.80,2.35,-5.57,0.000,4,0.180,0.070,2759,559,3076
$GC,221,-2.13,-73.5,37.1,-22.0,29,225,0.00,2.17,0.00,0.000,6,0.000,0.026,2759,1967,3078
$GC,490,-2.13,-73.5,88.4,-17.3,54,494,0.00,2.15,0.00,0.000,4,0.000,0.034,2759,3348,3080
$GC,507,-2.13,-73.5,90.7,-16.2,55,511,0.00,2.22,0.00,0.000,6,0.000,0.026,2759,1942,3080
$GC,772,-2.13,-73.5,134.6,-16.8,79,776,0.00,2.40,0.00,0.000,4,0.000,0.077,2759,560,3081
$GC,812,-2.13,-73.5,141.6,-16.4,82,820,0.00,2.20,0.00,0.000,6,0.000,0.036,2760,1953,3081
$GC,1077,-2.13,-73.5,179.1,-14.0,107,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1954,3083
$GC,1354,-2.13,-73.5,217.9,-13.9,125,1358,0.00,2.20,0.00,0.000,4,0.000,0.031,2759,3344,3084
$GC,1404,-2.13,-73.5,224.5,-12.1,126,1408,0.00,2.20,0.00,0.000,6,0.000,0.028,2759,1954,3084
$GC,1683,-2.13,-73.5,257.3,-12.2,133,1686,0.00,2.22,0.00,0.000,4,0.000,0.035,2759,3339,3084
$GC,1733,-2.13,-73.5,263.6,-12.2,134,1737,0.00,2.22,0.00,0.000,6,0.000,0.032,2759,1955,3084
$GC,2010,-2.13,-73.5,296.8,-11.9,141,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1954,3085
$GC,2255,-2.13,-73.5,322.8,-10.5,147,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1955,3085
$GC,2498,-2.13,-73.5,349.1,-10.7,153,2502,0.00,2.55,0.00,0.000,4,0.000,0.096,2759,552,3085
$GC,2514,-2.13,-73.5,351.1,-10.9,153,2518,0.00,2.25,0.00,0.000,6,0.000,0.047,2759,1919,3084
$GC,2783,-2.13,-73.5,379.8,-10.8,160,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1921,3083
$GC,3025,-2.13,-73.5,405.4,-10.6,166,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1920,3082
$GC,3269,-2.13,-73.5,430.2,-10.2,172,3273,0.00,2.42,0.00,0.000,4,0.000,0.064,2759,3355,3081
$GC,3302,-2.13,-73.5,433.9,-10.9,172,3308,0.00,2.35,0.00,0.000,6,0.000,0.051,2759,1953,3081
$GC,3553,-2.13,-73.5,460.0,-10.5,179,3557,0.00,2.35,0.00,0.000,4,0.000,0.054,2760,3358,3079
$GC,3614,-2.13,-73.5,466.8,-10.9,180,3619,0.00,2.38,0.00,0.000,6,0.000,0.056,2759,1947,3078
$STATE,3753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3753,begin apogee
$GC,3760,-0.31,0.0,482.1,11.0,184,3827,1.83,0.00,62.72,0.902,6,0.097,0.000,3159,2064,2775
$STATE,3828,end apogee,CONTROL_FINISHED_OK
$STATE,3828,begin climb
$GC,3831,2.13,73.5,483.8,0.0,185,3897,2.17,0.00,61.78,0.882,6,0.028,0.000,3705,2064,2475
$GC,4121,2.13,73.5,460.2,10.7,193,4125,0.00,2.33,0.00,0.000,4,0.000,0.053,3704,3441,2471
$GC,4379,2.13,73.5,433.4,11.1,198,4385,0.00,2.33,0.00,0.000,6,0.000,0.044,3704,2047,2468
$GC,4628,2.13,73.5,406.8,10.9,205,4632,0.00,2.33,0.00,0.000,4,0.000,0.043,3704,3448,2466
$GC,4886,2.14,81.9,381.4,8.7,210,4899,0.00,2.30,6.65,0.708,6,0.000,0.044,3704,2045,2440
$GC,5179,2.15,92.9,356.7,8.3,218,5195,0.00,2.33,10.55,0.769,4,0.000,0.037,3704,3452,2395
$GC,5443,2.15,94.8,332.4,9.7,224,5447,0.00,2.28,0.00,0.000,6,0.000,0.036,3704,2048,2393
$GC,5727,2.15,94.8,303.1,10.4,231,5731,0.00,2.28,0.00,0.000,4,0.000,0.041,3704,3449,2391
$GC,5985,2.16,104.1,276.9,8.6,236,6000,0.00,2.28,9.80,0.722,6,0.000,0.034,3704,2042,2350
$GC,6273,2.17,109.3,250.6,9.2,244,6283,0.00,2.30,5.93,0.625,4,0.000,0.040,3704,3453,2327
$GC,6537,2.17,109.3,223.9,10.0,250,6541,0.00,2.25,0.00,0.000,6,0.000,0.034,3704,2048,2326
$GC,6820,2.18,117.7,199.1,8.7,257,6835,0.00,2.33,8.05,0.642,4,0.000,0.038,3704,3448,2294
$GC,7090,2.19,125.3,176.0,8.9,281,7104,0.00,2.25,7.85,0.619,6,0.000,0.031,3704,2040,2263
$GC,7371,2.21,141.7,147.3,7.5,307,7397,0.00,2.38,14.80,0.647,4,0.000,0.038,3704,3460,2197
$GC,7423,2.21,141.7,142.3,10.1,311,7427,0.00,2.28,0.00,0.000,6,0.000,0.039,3704,2044,2196
$GC,7686,2.21,145.4,116.9,9.5,335,7700,0.00,2.30,4.32,0.459,4,0.000,0.033,3704,3448,2181
$GC,7715,2.21,145.4,113.9,11.1,337,7719,0.00,2.22,0.00,0.000,6,0.000,0.031,3704,2049,2182
$GC,7984,2.23,156.4,86.6,8.3,362,8001,0.00,2.30,10.98,0.574,4,0.000,0.041,3704,3444,2137
$GC,8231,2.24,165.1,62.8,8.7,384,8246,0.00,2.22,8.85,0.531,6,0.000,0.036,3704,2049,2101
$GC,8502,2.26,184.4,41.2,7.1,409,8527,0.00,2.33,17.55,0.548,4,0.000,0.040,3704,3448,2022
$GC,8778,2.26,184.4,7.0,13.9,449,8786,0.00,2.25,0.00,0.000,6,0.000,0.035,3704,2055,2020
$STATE,8809,end climb,SURFACE_DEPTH_REACHED
$STATE,8809,begin surface coast
$FINISH,0.6,1.012204
$STATE,8832,end surface coast,CONTROL_FINISHED_OK
$STATE,8832,begin surface
$SM_CCo,8856,108.80,0.530,0,0,1470,320.12
$SM_GC,1.21,0.00,0.00,108.80,0.000,0.000,0.530,465,1937,1470,-12.72,-0.37,320.12
$IRIDIUM_FIX,2239.35,-15744.57,300997,121239
$TT8_MAMPS,0.026078
$HUMID,1642
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,22.90
$XPDR_PINGS,436
$24V_AH,23.8,47.268
$10V_AH,10.2,38.337
$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,29.825,82.825,229.825,108.800,0.000,25.342,32.694,109.754,119.250,0.000,0.000,30.795,967.112,5579.624,418.244,1917.465,382.162,0.000,1104.372,0.000,1869.855,0.000,66.482
$DEVICE_MAMPS,180.245,95.875,901.992,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.243,252.656,358.377,484.906,1022.478,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35078,458
$CAP_FILE_SIZE,83249,0
$CFSIZE,260165632,241651712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,060708,171408,2247.768,-15748.998,28,0.9,28,10.1