version: 66.03
glider: 146
mission: 2
dive: 402
start: 7 9 108 6 22 31
data:
$ID,146
$MISSION,2
$DIVE,402
$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,180
$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,-13905.337
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,061437,2248.287,-15748.679,36,1.0,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.5
$GPS2,062209,2248.287,-15748.674,13,1.2,13,10.1
$SPEED_LIMITS,0.127,0.334
$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,216.2,770,-32.4,-8.889
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-2.07,-37.3,0.0,0.0,0,77,0.00,0.00,-52.90,0.000,2,0.000,0.000,467,1947,2845
$GC,80,-2.09,-54.0,3.4,-6.2,7,105,12.85,2.38,-3.20,0.000,4,0.180,0.066,2766,564,2997
$GC,313,-2.09,-54.0,56.3,-19.9,36,317,0.00,2.22,0.00,0.000,6,0.000,0.033,2766,1993,2999
$GC,585,-2.09,-54.0,103.4,-18.4,61,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1994,3001
$GC,846,-2.09,-54.0,145.1,-15.4,86,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1994,3001
$GC,1101,-2.09,-54.0,179.8,-13.1,110,1105,0.00,2.47,0.00,0.000,4,0.000,0.068,2766,564,3002
$GC,1133,-2.09,-54.0,183.9,-14.7,112,1137,0.00,2.17,0.00,0.000,6,0.000,0.033,2766,1946,3002
$GC,1419,-2.09,-54.0,220.2,-12.2,127,1422,0.00,2.20,0.00,0.000,4,0.000,0.031,2766,3340,3003
$GC,1491,-2.09,-54.0,228.5,-10.8,128,1495,0.00,2.20,0.00,0.000,6,0.000,0.027,2766,1948,3003
$GC,1746,-2.09,-54.0,255.9,-10.4,135,1750,0.00,2.45,0.00,0.000,4,0.000,0.078,2766,550,3004
$GC,1858,-2.09,-54.0,269.1,-11.0,137,1862,0.00,2.22,0.00,0.000,6,0.000,0.038,2766,1937,3003
$GC,2119,-2.09,-54.0,294.7,-9.8,144,2124,0.00,2.45,0.00,0.000,4,0.000,0.079,2766,552,3004
$GC,2136,-2.09,-54.0,296.6,-10.3,144,2140,0.00,2.25,0.00,0.000,6,0.000,0.041,2766,1945,3004
$GC,2397,-2.09,-54.0,323.2,-10.1,151,2401,0.00,2.28,0.00,0.000,4,0.000,0.044,2766,3355,3004
$GC,2429,-2.09,-54.0,326.5,-9.8,151,2434,0.00,2.25,0.00,0.000,6,0.000,0.036,2766,1961,3004
$GC,2679,-2.09,-54.0,349.4,-9.2,157,2683,0.00,2.25,0.00,0.000,4,0.000,0.041,2766,3355,3004
$GC,2707,-2.09,-54.0,352.0,-9.4,157,2711,0.00,2.30,0.00,0.000,6,0.000,0.041,2766,1950,3004
$GC,2957,-2.10,-57.4,372.9,-8.3,163,2962,0.00,2.55,0.00,0.000,4,0.000,0.099,2766,548,3002
$GC,3053,-2.10,-57.4,381.7,-9.2,165,3057,0.00,2.30,0.00,0.000,6,0.000,0.048,2766,1941,3002
$GC,3325,-2.10,-57.4,406.8,-9.6,172,3329,0.00,2.35,0.00,0.000,4,0.000,0.054,2766,3359,2999
$GC,3392,-2.10,-57.4,413.5,-9.9,173,3396,0.00,2.35,0.00,0.000,6,0.000,0.049,2766,1948,2999
$GC,3653,-2.11,-64.0,434.8,-7.8,180,3657,0.00,2.33,0.00,0.000,4,0.000,0.051,2766,3363,2998
$GC,3771,-2.11,-67.6,444.2,-8.3,182,3775,0.00,2.38,0.00,0.000,6,0.000,0.054,2766,1951,2997
$GC,4027,-2.12,-75.9,463.0,-7.6,189,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1951,2996
$STATE,4267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4267,begin apogee
$GC,4274,-0.31,0.0,482.3,8.0,195,4325,1.80,0.00,46.47,0.900,6,0.091,0.000,3162,2061,2775
$STATE,4325,end apogee,CONTROL_FINISHED_OK
$STATE,4325,begin climb
$GC,4328,2.12,75.9,482.9,0.0,196,4397,2.20,0.00,64.00,0.887,6,0.036,0.000,3699,2061,2464
$GC,4634,2.12,75.9,451.9,12.5,204,4638,0.00,2.35,0.00,0.000,4,0.000,0.054,3699,3448,2461
$GC,4649,2.12,75.9,449.9,11.9,204,4654,0.00,2.35,0.00,0.000,6,0.000,0.046,3699,2044,2460
$GC,4911,2.12,75.9,421.4,10.3,211,4915,0.00,2.35,0.00,0.000,4,0.000,0.054,3699,3451,2458
$GC,5168,2.12,75.9,396.1,9.0,216,5174,0.00,2.30,0.00,0.000,6,0.000,0.040,3699,2043,2456
$GC,5418,2.12,75.9,371.5,10.1,223,5422,0.00,2.33,0.00,0.000,4,0.000,0.046,3699,3459,2454
$GC,5605,2.12,78.3,354.5,8.5,227,5609,0.00,2.30,0.00,0.000,6,0.000,0.036,3699,2046,2453
$GC,5883,2.14,90.5,334.1,6.9,234,5899,0.00,2.33,11.05,0.766,4,0.000,0.042,3699,3456,2404
$GC,6129,2.14,90.5,312.4,9.7,239,6133,0.00,2.25,0.00,0.000,6,0.000,0.035,3699,2047,2404
$GC,6390,2.15,97.1,291.0,7.8,246,6401,0.00,2.30,6.40,0.664,4,0.000,0.035,3699,3456,2379
$GC,6655,2.16,107.1,268.4,7.3,252,6670,0.00,2.28,9.93,0.712,6,0.000,0.036,3699,2048,2338
$GC,6937,2.16,107.8,244.6,8.8,259,6941,0.00,2.28,0.00,0.000,4,0.000,0.043,3699,3455,2336
$GC,7194,2.16,111.4,224.2,8.3,264,7204,0.00,2.28,4.90,0.556,6,0.000,0.031,3699,2039,2320
$GC,7483,2.17,116.7,200.2,8.1,272,7493,0.00,2.30,6.05,0.587,4,0.000,0.034,3699,3463,2299
$GC,7746,2.19,130.3,180.7,6.7,293,7770,0.00,2.25,12.62,0.655,6,0.000,0.031,3699,2049,2243
$GC,8029,2.19,130.3,155.0,10.7,319,8033,0.00,2.25,0.00,0.000,4,0.000,0.032,3698,3456,2242
$GC,8046,2.19,130.3,152.6,11.0,320,8050,0.00,2.25,0.00,0.000,6,0.000,0.031,3699,2042,2242
$GC,8307,2.19,134.3,128.0,8.3,344,8321,0.00,2.33,4.95,0.486,4,0.000,0.034,3699,3460,2227
$GC,8573,2.19,134.3,103.0,9.5,367,8578,0.00,2.28,0.00,0.000,6,0.000,0.031,3699,2042,2227
$GC,8834,2.22,159.1,89.3,4.9,392,8861,0.00,2.33,22.25,0.590,4,0.000,0.033,3699,3463,2125
$GC,9114,2.22,159.1,61.5,9.4,417,9118,0.00,2.25,0.00,0.000,6,0.000,0.035,3699,2045,2124
$GC,9378,2.23,165.3,40.0,7.9,441,9392,0.00,2.28,6.85,0.470,4,0.000,0.031,3699,3465,2099
$GC,9532,2.23,165.3,25.1,9.3,459,9540,0.00,2.28,0.00,0.000,6,0.000,0.031,3699,2051,2098
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,0.5,1.023135
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9795,begin surface
$SM_CCo,9819,124.25,0.522,0,0,1470,320.12
$SM_GC,1.20,0.00,0.00,124.25,0.000,0.000,0.522,469,1934,1470,-12.70,-0.45,320.12
$IRIDIUM_FIX,2239.35,-15746.73,031097,060602
$TT8_MAMPS,0.026078
$HUMID,1602
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,23.60
$XPDR_PINGS,504
$ALTIM_BOTTOM_PING,171.5,6.5
$24V_AH,23.7,49.663
$10V_AH,10.2,40.599
$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,29.975,97.125,195.475,124.250,0.000,48.508,107.166,122.995,128.750,0.000,0.000,15.422,1066.773,6455.870,409.342,1963.420,508.804,0.000,1163.441,0.000,1937.302,0.000,19.305
$DEVICE_MAMPS,180.245,98.943,900.458,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.290,282.288,395.471,414.487,875.215,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38201,506
$CAP_FILE_SIZE,90171,0
$CFSIZE,260165632,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,090708,090923,2248.474,-15748.870,7,3.6,26,10.1