version: 66.03
glider: 146
mission: 2
dive: 404
start: 7 9 108 12 6 37
data:
$ID,146
$MISSION,2
$DIVE,404
$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,-13954.304
$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,44
$R_STBD_OVSHOOT,55
$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
$GPS1,120107,2248.683,-15748.823,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.8
$GPS2,120614,2248.715,-15748.838,9,1.5,14,10.1
$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,181.7,1353,-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,-52.80,0.000,2,0.000,0.000,466,1929,2847
$GC,80,-2.09,-53.0,3.5,-6.4,7,104,12.98,2.33,-3.05,0.000,4,0.183,0.069,2767,570,2994
$GC,200,-2.09,-53.0,31.7,-22.2,27,204,0.00,2.15,0.00,0.000,6,0.000,0.024,2767,1959,2996
$GC,465,-2.09,-53.0,80.8,-17.4,51,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1960,2997
$GC,727,-2.09,-53.0,122.3,-14.9,76,731,0.00,2.17,0.00,0.000,4,0.000,0.028,2768,3341,2998
$GC,769,-2.09,-53.0,127.8,-12.6,79,774,0.00,2.20,0.00,0.000,6,0.000,0.032,2768,1953,2999
$GC,1037,-2.09,-53.0,160.9,-12.7,103,1041,0.00,2.20,0.00,0.000,4,0.000,0.028,2767,3344,3000
$GC,1058,-2.09,-53.0,164.7,-12.9,104,1064,0.00,2.20,0.00,0.000,6,0.000,0.025,2767,1949,3000
$GC,1322,-2.09,-53.0,197.1,-11.5,129,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1948,3000
$GC,1595,-2.09,-53.0,228.6,-11.3,138,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1948,3001
$GC,1840,-2.09,-53.0,253.4,-10.0,144,1844,0.00,2.45,0.00,0.000,4,0.000,0.078,2767,560,3001
$GC,1907,-2.09,-53.0,261.1,-11.5,145,1911,0.00,2.20,0.00,0.000,6,0.000,0.039,2768,1927,3002
$GC,2168,-2.09,-53.0,285.1,-8.9,152,2172,0.00,2.30,0.00,0.000,4,0.000,0.041,2768,3359,3002
$GC,2304,-2.09,-53.4,298.4,-8.8,155,2308,0.00,2.25,0.00,0.000,6,0.000,0.035,2767,1961,3002
$GC,2582,-2.09,-53.6,323.0,-8.8,162,2586,0.00,2.53,0.00,0.000,4,0.000,0.089,2767,549,3001
$GC,2622,-2.09,-53.6,327.0,-9.9,163,2626,0.00,2.28,0.00,0.000,6,0.000,0.041,2767,1947,3001
$GC,2908,-2.09,-53.6,353.1,-9.0,170,2912,0.00,2.30,0.00,0.000,4,0.000,0.048,2768,3354,3000
$GC,2941,-2.09,-53.6,356.8,-10.1,170,2947,0.00,2.30,0.00,0.000,6,0.000,0.041,2767,1953,3000
$GC,3191,-2.09,-53.6,379.6,-9.2,177,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1952,2998
$GC,3436,-2.09,-53.6,401.8,-8.9,183,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1952,2997
$GC,3681,-2.09,-54.9,422.7,-8.7,189,3685,0.00,2.33,0.00,0.000,4,0.000,0.051,2767,3355,2996
$GC,3725,-2.09,-54.9,427.0,-9.1,190,3729,0.00,2.35,0.00,0.000,6,0.000,0.051,2767,1954,2996
$GC,4003,-2.09,-54.9,453.3,-9.4,197,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1953,2994
$GC,4246,-2.09,-54.9,475.1,-8.9,203,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1953,2992
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4332,-0.31,0.0,482.1,8.8,205,4382,1.77,0.00,45.80,0.904,6,0.101,0.000,3158,2057,2775
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4385,2.09,54.9,483.2,0.0,206,4437,2.20,0.00,46.67,0.883,6,0.028,0.000,3697,2057,2551
$GC,4652,2.10,57.9,464.8,8.4,213,4661,0.00,2.40,3.83,0.538,4,0.000,0.063,3697,3439,2538
$GC,4788,2.10,62.1,453.0,8.2,216,4798,0.00,2.33,4.95,0.634,6,0.000,0.047,3697,2048,2521
$GC,5071,2.11,70.4,430.2,7.6,223,5086,0.00,2.38,8.02,0.755,4,0.000,0.051,3697,3435,2488
$GC,5328,2.11,70.4,404.6,9.7,228,5332,0.00,2.28,0.00,0.000,6,0.000,0.047,3697,2043,2486
$GC,5584,2.12,72.0,382.0,8.6,235,5588,0.00,2.30,0.00,0.000,4,0.000,0.044,3697,3448,2484
$GC,5754,2.12,74.3,367.7,8.5,238,5763,0.00,2.30,4.28,0.579,6,0.000,0.043,3697,2043,2471
$GC,6049,2.13,86.1,345.2,7.0,246,6065,0.00,2.33,10.95,0.773,4,0.000,0.044,3697,3448,2423
$GC,6317,2.13,86.1,319.4,10.0,252,6322,0.00,2.30,0.00,0.000,6,0.000,0.041,3697,2040,2421
$GC,6596,2.13,86.1,293.8,9.3,259,6600,0.00,2.30,0.00,0.000,4,0.000,0.037,3697,3454,2420
$GC,6629,2.13,87.2,290.7,8.7,259,6635,0.00,2.28,0.00,0.000,6,0.000,0.035,3697,2049,2420
$GC,6879,2.16,109.8,276.8,5.3,266,6904,0.00,2.33,20.48,0.772,4,0.000,0.044,3697,3451,2326
$GC,7147,2.16,109.8,253.2,10.0,272,7151,0.00,2.28,0.00,0.000,6,0.000,0.040,3697,2050,2324
$GC,7425,2.16,109.8,227.1,9.3,279,7429,0.00,2.28,0.00,0.000,4,0.000,0.038,3697,3452,2322
$GC,7682,2.16,109.8,203.9,9.5,284,7688,0.00,2.25,0.00,0.000,6,0.000,0.038,3697,2039,2321
$GC,7941,2.18,123.4,182.4,6.7,306,7955,0.00,0.00,11.98,0.663,6,0.000,0.000,3697,2039,2270
$GC,8209,2.18,125.6,159.9,8.5,331,8213,0.00,2.28,0.00,0.000,4,0.000,0.041,3697,3452,2269
$GC,8227,2.19,130.8,158.3,8.1,332,8239,0.00,2.22,7.40,0.588,6,0.000,0.031,3697,2048,2240
$GC,8499,2.19,130.8,131.6,9.6,357,8503,0.00,2.28,0.00,0.000,4,0.000,0.033,3697,3459,2240
$GC,8756,2.21,145.7,109.2,6.5,379,8775,0.00,2.28,13.95,0.602,6,0.000,0.030,3696,2037,2180
$GC,9033,2.21,145.7,84.9,9.5,405,9036,0.00,2.28,0.00,0.000,4,0.000,0.032,3697,3453,2178
$GC,9054,2.21,145.7,82.3,9.2,406,9063,0.00,2.25,0.00,0.000,6,0.000,0.030,3697,2049,2178
$GC,9318,2.21,148.6,61.8,8.4,431,9332,0.00,2.28,3.95,0.393,4,0.000,0.031,3697,3446,2169
$GC,9546,2.22,159.9,41.7,7.1,451,9562,0.00,2.22,11.23,0.525,6,0.000,0.037,3697,2042,2122
$GC,9828,2.23,164.7,18.0,8.1,489,9845,0.00,2.38,5.47,0.430,4,0.000,0.058,3697,653,2102
$GC,9854,2.23,167.2,15.8,8.5,492,9863,0.00,2.20,3.83,0.351,6,0.000,0.029,3697,2060,2093
$STATE,9983,end climb,SURFACE_DEPTH_REACHED
$STATE,9983,begin surface coast
$FINISH,0.5,1.023048
$STATE,10014,end surface coast,CONTROL_FINISHED_OK
$STATE,10014,begin surface
$SM_CCo,10038,123.03,0.525,0,0,1469,320.12
$SM_GC,1.00,0.00,0.00,123.03,0.000,0.000,0.525,465,1939,1469,-12.72,-0.31,320.12
$IRIDIUM_FIX,2239.35,-15749.78,031097,090953
$TT8_MAMPS,0.026078
$HUMID,1609
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.30
$XPDR_PINGS,491
$24V_AH,23.8,49.840
$10V_AH,10.2,40.791
$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,30.000,91.800,202.775,123.025,0.000,30.879,26.393,134.524,133.000,0.000,0.000,16.350,1092.602,6598.317,414.561,1936.796,435.389,0.000,1155.491,0.000,1904.593,0.000,64.394
$DEVICE_MAMPS,183.313,88.972,904.293,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.612,290.046,406.251,424.808,896.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38177,520
$CAP_FILE_SIZE,93270,0
$CFSIZE,260165632,240463872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,090708,145707,2248.516,-15748.640,11,0.9,27,10.1