version: 66.03
glider: 146
mission: 2
dive: 411
start: 7 10 108 7 37 49
data:
$ID,146
$MISSION,2
$DIVE,411
$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,-14081.409
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,072938,2248.417,-15748.804,38,1.3,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.9
$GPS2,073727,2248.503,-15748.802,12,1.3,12,10.1
$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,189.8,990,-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,-52.78,0.000,2,0.000,0.000,464,1932,2854
$GC,80,-2.09,-52.8,3.5,-6.4,7,105,12.90,2.33,-2.90,0.000,4,0.181,0.067,2769,578,2993
$GC,212,-2.09,-52.8,33.5,-20.3,28,216,0.00,2.15,0.00,0.000,6,0.000,0.027,2769,1960,2994
$GC,473,-2.09,-52.8,81.7,-15.4,52,477,0.00,2.40,0.00,0.000,4,0.000,0.063,2770,565,2995
$GC,494,-2.09,-52.8,85.6,-17.1,53,500,0.00,2.15,0.00,0.000,6,0.000,0.025,2770,1961,2995
$GC,758,-2.09,-52.8,125.8,-16.7,78,761,0.00,2.15,0.00,0.000,4,0.000,0.030,2770,3327,2996
$GC,840,-2.09,-52.8,138.4,-13.7,85,844,0.00,2.17,0.00,0.000,6,0.000,0.027,2770,1955,2997
$GC,1104,-2.09,-52.8,174.4,-13.9,109,1107,0.00,2.17,0.00,0.000,4,0.000,0.028,2770,3330,2998
$GC,1175,-2.09,-52.8,183.5,-12.1,115,1180,0.00,2.17,0.00,0.000,6,0.000,0.025,2770,1948,2998
$GC,1442,-2.09,-52.8,214.2,-11.0,131,1445,0.00,2.20,0.00,0.000,4,0.000,0.030,2770,3337,2999
$GC,1475,-2.09,-52.8,218.1,-11.4,131,1481,0.00,2.20,0.00,0.000,6,0.000,0.028,2770,1948,2999
$GC,1725,-2.09,-52.8,246.8,-11.4,138,1729,0.00,2.42,0.00,0.000,4,0.000,0.077,2769,552,2999
$GC,1781,-2.09,-52.8,253.2,-10.6,139,1785,0.00,2.20,0.00,0.000,6,0.000,0.037,2770,1933,2999
$GC,2053,-2.09,-52.8,280.2,-9.9,146,2057,0.00,2.28,0.00,0.000,4,0.000,0.038,2770,3355,2999
$GC,2103,-2.09,-52.8,285.1,-9.8,147,2107,0.00,2.25,0.00,0.000,6,0.000,0.041,2769,1950,2999
$GC,2387,-2.10,-58.3,308.5,-8.0,154,2391,0.00,2.25,0.00,0.000,4,0.000,0.038,2770,3352,2999
$GC,2478,-2.10,-58.3,316.9,-9.7,156,2482,0.00,2.28,0.00,0.000,6,0.000,0.037,2770,1951,2999
$GC,2761,-2.10,-60.0,341.7,-8.6,163,2766,0.00,2.53,0.00,0.000,4,0.000,0.094,2769,548,2998
$GC,2868,-2.10,-60.0,352.4,-10.4,165,2872,0.00,2.28,0.00,0.000,6,0.000,0.046,2770,1936,2998
$GC,3129,-2.10,-60.7,375.9,-8.8,172,3134,0.00,2.35,0.00,0.000,4,0.000,0.059,2769,3364,2997
$GC,3174,-2.10,-61.1,379.8,-8.8,173,3178,0.00,2.33,0.00,0.000,6,0.000,0.044,2769,1953,2997
$GC,3452,-2.11,-68.9,401.8,-7.7,180,3456,0.00,2.58,0.00,0.000,4,0.000,0.100,2769,539,2994
$GC,3479,-2.11,-69.2,404.2,-8.8,180,3483,0.00,2.33,0.00,0.000,6,0.000,0.048,2770,1945,2994
$GC,3729,-2.11,-70.3,425.6,-8.7,186,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1945,2993
$GC,3973,-2.12,-72.7,446.4,-8.5,192,3977,0.00,2.38,0.00,0.000,4,0.000,0.067,2769,3358,2991
$GC,4028,-2.12,-75.7,451.3,-8.4,193,4033,0.00,2.35,0.00,0.000,6,0.000,0.050,2770,1948,2991
$GC,4296,-2.13,-82.7,472.6,-7.8,200,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1948,2990
$STATE,4414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4414,begin apogee
$GC,4421,-0.31,0.0,481.5,7.3,203,4470,1.77,0.00,45.15,0.900,6,0.091,0.000,3160,2067,2775
$STATE,4471,end apogee,CONTROL_FINISHED_OK
$STATE,4471,begin climb
$GC,4474,2.13,82.7,481.8,0.0,204,4551,2.22,2.40,68.80,0.890,4,0.031,0.058,3704,3437,2437
$GC,4574,2.13,82.7,474.8,12.0,206,4580,0.00,2.35,0.00,0.000,6,0.000,0.046,3704,2050,2435
$GC,4824,2.13,82.7,441.8,13.0,213,4828,0.00,2.33,0.00,0.000,4,0.000,0.046,3704,3442,2432
$GC,5049,2.13,82.7,415.5,10.9,218,5053,0.00,2.30,0.00,0.000,6,0.000,0.042,3704,2048,2430
$GC,5333,2.13,82.7,382.0,11.7,225,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2048,2428
$GC,5577,2.13,82.7,357.4,9.7,231,5581,0.00,2.30,0.00,0.000,4,0.000,0.041,3704,3458,2426
$GC,5747,2.13,85.2,342.6,8.5,234,5753,0.00,2.30,0.00,0.000,6,0.000,0.041,3705,2044,2425
$GC,5997,2.13,85.6,320.3,8.8,241,6002,0.00,2.42,0.00,0.000,4,0.000,0.072,3704,645,2424
$GC,6075,2.13,85.6,312.5,9.7,242,6082,0.00,2.25,0.00,0.000,6,0.000,0.039,3704,2059,2422
$GC,6326,2.15,99.3,294.5,6.7,249,6344,0.00,2.33,12.25,0.755,4,0.000,0.038,3704,3449,2369
$GC,6598,2.15,99.3,272.2,8.9,255,6603,0.00,2.28,0.00,0.000,6,0.000,0.033,3704,2043,2367
$GC,6877,2.17,117.7,252.6,6.0,262,6898,0.00,2.30,16.20,0.740,4,0.000,0.040,3704,3448,2295
$GC,7150,2.17,117.7,225.1,11.3,268,7154,0.00,2.22,0.00,0.000,6,0.000,0.033,3704,2051,2293
$GC,7423,2.17,117.7,196.7,9.6,275,7427,0.00,2.38,0.00,0.000,4,0.000,0.070,3704,644,2291
$GC,7684,2.17,117.7,172.6,9.0,298,7688,0.00,2.22,0.00,0.000,6,0.000,0.028,3704,2056,2290
$GC,7952,2.18,125.7,151.5,7.6,323,7964,0.00,2.45,7.45,0.584,4,0.000,0.061,3704,650,2262
$GC,8215,2.19,136.3,128.3,7.2,346,8234,0.00,2.20,10.40,0.597,6,0.000,0.025,3704,2053,2218
$GC,8493,2.20,140.5,105.1,8.2,372,8507,0.00,2.40,5.22,0.485,4,0.000,0.054,3704,653,2201
$GC,8534,2.20,140.5,100.9,9.3,375,8540,0.00,2.17,0.00,0.000,6,0.000,0.025,3704,2042,2201
$GC,8796,2.21,152.0,81.8,7.1,400,8809,0.00,0.00,11.07,0.557,6,0.000,0.000,3704,2043,2155
$GC,9062,2.22,156.0,59.3,8.2,425,9075,0.00,2.28,4.93,0.437,4,0.000,0.035,3704,3441,2139
$GC,9134,2.22,156.6,53.5,8.8,431,9138,0.00,2.22,0.00,0.000,6,0.000,0.031,3705,2038,2139
$GC,9403,2.22,158.3,30.2,8.6,456,9416,0.00,2.30,3.95,0.368,4,0.000,0.033,3704,3445,2128
$GC,9425,2.23,163.5,28.3,8.1,458,9442,0.00,2.25,6.18,0.447,6,0.000,0.032,3704,2046,2107
$STATE,9673,end climb,SURFACE_DEPTH_REACHED
$STATE,9673,begin surface coast
$FINISH,0.5,1.023090
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9727,125.43,0.525,0,0,1469,320.12
$SM_GC,1.25,0.00,0.00,125.43,0.000,0.000,0.525,470,1934,1469,-12.70,-0.45,320.12
$IRIDIUM_FIX,2237.01,-15744.57,041097,070709
$TT8_MAMPS,0.026078
$HUMID,1614
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.30
$XPDR_PINGS,515
$ALTIM_BOTTOM_PING,180.6,6.5
$24V_AH,23.7,50.468
$10V_AH,10.2,41.435
$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,29.950,105.850,191.600,125.425,0.000,59.733,112.173,124.417,131.750,0.000,0.000,14.278,1056.508,6434.678,407.108,1901.984,530.203,0.000,1151.612,0.000,1877.516,0.000,20.852
$DEVICE_MAMPS,181.012,99.710,900.458,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.339,280.841,397.890,419.671,884.737,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38261,507
$CAP_FILE_SIZE,91107,0
$CFSIZE,260165632,240152576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100708,102328,2248.719,-15748.828,25,2.1,44,10.1