version: 66.03
glider: 146
mission: 2
dive: 309
start: 6 29 108 14 57 37
data:
$ID,146
$MISSION,2
$DIVE,309
$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,-11871.259
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,145229,2248.673,-15749.246,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.5
$GPS2,145717,2248.672,-15749.284,12,2.6,31,10.1
$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,148.6,1336,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,75,0.00,0.00,-52.95,0.000,2,0.000,0.000,467,1960,2844
$GC,78,-2.11,-63.9,3.6,-7.1,7,102,12.88,2.40,-4.07,0.000,4,0.183,0.073,2762,548,3036
$GC,165,-2.11,-63.9,26.0,-23.8,21,173,0.00,2.20,0.00,0.000,6,0.000,0.025,2762,1950,3039
$GC,433,-2.11,-63.9,80.2,-18.1,47,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1951,3040
$GC,696,-2.11,-63.9,124.1,-16.2,72,700,0.00,2.17,0.00,0.000,4,0.000,0.030,2762,3335,3041
$GC,717,-2.11,-63.9,127.8,-15.1,73,725,0.00,2.22,0.00,0.000,6,0.000,0.036,2762,1948,3041
$GC,980,-2.11,-63.9,165.3,-15.7,98,984,0.00,2.17,0.00,0.000,4,0.000,0.030,2762,3334,3042
$GC,1030,-2.11,-63.9,173.6,-15.3,102,1034,0.00,2.20,0.00,0.000,6,0.000,0.028,2762,1941,3043
$GC,1322,-2.11,-63.9,211.0,-12.4,123,1326,0.00,2.42,0.00,0.000,4,0.000,0.077,2762,559,3044
$GC,1371,-2.11,-63.9,218.5,-14.2,124,1375,0.00,2.20,0.00,0.000,6,0.000,0.037,2762,1944,3044
$GC,1650,-2.11,-63.9,249.7,-10.8,131,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1946,3045
$GC,1893,-2.11,-63.9,274.7,-10.6,137,1897,0.00,2.22,0.00,0.000,4,0.000,0.039,2762,3338,3045
$GC,1920,-2.11,-63.9,277.7,-10.8,137,1924,0.00,2.22,0.00,0.000,6,0.000,0.033,2762,1951,3045
$GC,2182,-2.12,-64.7,303.3,-9.9,144,2186,0.00,2.22,0.00,0.000,4,0.000,0.038,2762,3338,3046
$GC,2242,-2.12,-64.7,309.6,-10.3,145,2248,0.00,2.22,0.00,0.000,6,0.000,0.037,2762,1952,3045
$GC,2509,-2.12,-64.7,337.7,-10.7,152,2513,0.00,2.55,0.00,0.000,4,0.000,0.097,2762,543,3045
$GC,2580,-2.12,-64.7,345.9,-12.1,153,2584,0.00,2.30,0.00,0.000,6,0.000,0.048,2762,1946,3045
$GC,2838,-2.12,-70.1,370.3,-9.2,160,2842,0.00,2.33,0.00,0.000,4,0.000,0.054,2762,3356,3044
$GC,2888,-2.13,-74.2,375.5,-9.4,161,2892,0.00,2.30,0.00,0.000,6,0.000,0.045,2762,1950,3045
$GC,3162,-2.13,-78.5,400.1,-9.4,168,3166,0.00,2.33,0.00,0.000,4,0.000,0.048,2762,3361,3043
$GC,3183,-2.13,-78.5,402.4,-10.1,168,3187,0.00,2.35,0.00,0.000,6,0.000,0.051,2762,1953,3042
$GC,3444,-2.13,-78.9,428.8,-9.9,175,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1952,3041
$GC,3691,-2.14,-82.1,452.0,-9.5,181,3695,0.00,2.35,0.00,0.000,4,0.000,0.056,2762,3357,3039
$GC,3712,-2.14,-87.1,454.3,-9.2,181,3717,0.00,2.38,0.00,0.000,6,0.000,0.060,2762,1946,3040
$GC,3968,-2.15,-95.6,477.2,-8.7,188,3972,0.00,2.38,0.00,0.000,4,0.000,0.065,2763,3355,3038
$STATE,3998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3999,begin apogee
$GC,4006,-0.31,0.0,480.1,8.9,188,4065,1.77,0.00,55.05,0.907,6,0.097,0.000,3160,2051,2775
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4069,2.15,95.6,481.1,0.0,190,4157,2.25,2.67,79.88,0.890,4,0.031,0.103,3707,642,2384
$GC,4173,2.15,95.6,474.0,13.2,193,4177,0.00,2.38,0.00,0.000,6,0.000,0.050,3707,2044,2382
$GC,4457,2.15,95.6,432.1,14.5,200,4461,0.00,2.42,0.00,0.000,4,0.000,0.067,3707,3466,2379
$GC,4624,2.15,95.6,407.4,13.3,203,4630,0.00,2.33,0.00,0.000,6,0.000,0.041,3707,2046,2377
$GC,4874,2.15,95.6,373.8,13.5,210,4878,0.00,2.35,0.00,0.000,4,0.000,0.041,3707,3473,2375
$GC,5131,2.15,95.6,342.0,11.9,215,5135,0.00,2.33,0.00,0.000,6,0.000,0.038,3707,2043,2373
$GC,5387,2.15,95.6,313.4,10.9,222,5391,0.00,2.33,0.00,0.000,4,0.000,0.039,3707,3466,2372
$GC,5426,2.15,95.6,309.0,10.5,223,5430,0.00,2.28,0.00,0.000,6,0.000,0.035,3707,2047,2371
$GC,5715,2.15,95.6,278.7,10.4,230,5718,0.00,2.33,0.00,0.000,4,0.000,0.044,3707,3473,2369
$GC,5972,2.17,105.9,253.6,8.4,235,5984,0.00,2.30,6.97,0.667,6,0.000,0.038,3707,2039,2343
$GC,6228,2.17,111.5,230.4,9.2,242,6239,0.00,2.35,6.43,0.636,4,0.000,0.036,3707,3474,2319
$GC,6492,2.18,114.4,208.2,9.6,248,6501,0.00,2.30,3.85,0.483,6,0.000,0.036,3707,2042,2307
$GC,6762,2.19,124.3,183.0,8.5,267,6776,0.00,2.35,9.62,0.653,4,0.000,0.043,3707,3472,2268
$GC,7032,2.20,136.9,157.1,8.1,291,7055,0.00,2.28,11.70,0.644,6,0.000,0.034,3707,2042,2216
$GC,7312,2.21,139.9,128.8,9.5,317,7326,0.00,2.35,4.12,0.455,4,0.000,0.034,3707,3471,2203
$GC,7573,2.21,145.4,102.9,9.2,340,7584,0.00,2.28,6.20,0.525,6,0.000,0.032,3707,2055,2182
$GC,7845,2.21,145.4,75.5,10.4,365,7849,0.00,2.28,0.00,0.000,4,0.000,0.038,3707,3471,2181
$GC,7920,2.21,145.4,67.8,10.0,371,7924,0.00,2.25,0.00,0.000,6,0.000,0.036,3707,2048,2182
$GC,8183,2.24,167.0,44.5,6.8,395,8208,0.00,2.38,19.62,0.559,4,0.000,0.061,3707,650,2093
$GC,8389,2.24,167.0,24.4,10.6,417,8398,0.00,2.25,0.00,0.000,6,0.000,0.025,3707,2073,2090
$STATE,8600,end climb,SURFACE_DEPTH_REACHED
$STATE,8600,begin surface coast
$FINISH,0.5,1.023329
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8653,122.88,0.528,0,0,1469,320.12
$SM_GC,1.45,0.00,0.00,122.88,0.000,0.000,0.528,467,1935,1469,-12.71,-0.42,320.12
$IRIDIUM_FIX,2241.69,-15746.73,230997,121200
$TT8_MAMPS,0.026078
$HUMID,1582
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,22.70
$XPDR_PINGS,443
$24V_AH,23.8,41.055
$10V_AH,10.2,31.831
$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,30.025,97.325,203.450,122.875,0.000,24.322,32.908,111.544,121.000,0.000,0.000,33.440,973.165,5397.333,407.309,1934.899,361.005,0.000,1100.685,0.000,1884.183,0.000,66.158
$DEVICE_MAMPS,183.313,102.778,906.594,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.872,255.322,364.687,501.267,1052.479,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35053,460
$CAP_FILE_SIZE,84843,0
$CFSIZE,260165632,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290608,172508,2248.634,-15749.069,36,1.3,36,10.1