version: 66.03
glider: 146
mission: 2
dive: 415
start: 7 10 108 18 18 48
data:
$ID,146
$MISSION,2
$DIVE,415
$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,-14188.954
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,181302,2248.146,-15748.983,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.0
$GPS2,181826,2248.157,-15749.032,8,1.0,13,10.1
$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,159.3,297,-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,-52.60,0.000,2,0.000,0.000,465,1931,2837
$GC,80,-2.10,-56.0,3.3,-5.9,7,105,12.93,2.35,-3.58,0.000,4,0.182,0.066,2767,567,3004
$GC,212,-2.10,-56.0,33.2,-21.2,28,216,0.00,2.15,0.00,0.000,6,0.000,0.025,2767,1957,3007
$GC,473,-2.10,-56.0,82.2,-15.5,52,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1958,3008
$GC,729,-2.10,-56.0,120.3,-13.2,76,733,0.00,2.40,0.00,0.000,4,0.000,0.064,2767,568,3009
$GC,748,-2.10,-56.0,123.1,-14.4,77,752,0.00,2.15,0.00,0.000,6,0.000,0.028,2768,1954,3009
$GC,1011,-2.10,-56.0,157.5,-12.1,101,1015,0.00,2.40,0.00,0.000,4,0.000,0.072,2767,571,3010
$GC,1101,-2.10,-56.0,169.7,-13.3,108,1115,0.00,2.17,0.00,0.000,6,0.000,0.033,2767,1944,3010
$GC,1387,-2.10,-56.0,206.3,-13.1,132,1391,0.00,2.20,0.00,0.000,4,0.000,0.038,2767,3342,3012
$GC,1420,-2.10,-56.0,210.9,-12.1,132,1427,0.00,2.17,0.00,0.000,6,0.000,0.027,2767,1964,3011
$GC,1671,-2.10,-56.0,238.3,-10.9,139,1675,0.00,2.17,0.00,0.000,4,0.000,0.032,2767,3336,3012
$GC,1693,-2.10,-56.0,240.9,-11.7,139,1697,0.00,2.20,0.00,0.000,6,0.000,0.028,2767,1949,3012
$GC,1954,-2.10,-56.0,270.0,-10.7,146,1958,0.00,2.22,0.00,0.000,4,0.000,0.035,2767,3339,3012
$GC,1981,-2.10,-56.0,272.6,-9.7,146,1985,0.00,2.22,0.00,0.000,6,0.000,0.031,2767,1951,3013
$GC,2231,-2.10,-56.0,296.1,-9.6,152,2235,0.00,2.22,0.00,0.000,4,0.000,0.038,2767,3331,3013
$GC,2304,-2.10,-56.0,304.0,-10.9,153,2308,0.00,2.22,0.00,0.000,6,0.000,0.035,2767,1955,3012
$GC,2554,-2.10,-56.0,327.8,-9.1,159,2558,0.00,2.53,0.00,0.000,4,0.000,0.093,2767,546,3012
$GC,2570,-2.10,-56.0,329.5,-9.3,159,2574,0.00,2.25,0.00,0.000,6,0.000,0.043,2768,1927,3012
$GC,2831,-2.10,-56.0,353.7,-9.0,166,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1928,3012
$GC,3074,-2.10,-56.0,377.3,-9.6,172,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1928,3010
$GC,3318,-2.10,-56.0,399.7,-9.1,178,3322,0.00,2.38,0.00,0.000,4,0.000,0.058,2767,3359,3009
$GC,3453,-2.10,-56.0,412.4,-9.6,181,3457,0.00,2.35,0.00,0.000,6,0.000,0.050,2767,1956,3008
$GC,3737,-2.11,-64.2,435.2,-7.6,188,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1956,3006
$GC,3981,-2.12,-73.9,453.3,-7.3,194,3985,0.00,2.62,0.00,0.000,4,0.000,0.111,2767,542,3005
$GC,4008,-2.12,-73.9,455.7,-8.9,194,4012,0.00,2.35,0.00,0.000,6,0.000,0.053,2767,1943,3005
$GC,4258,-2.12,-78.5,476.0,-8.2,200,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1943,3003
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4336,begin apogee
$GC,4343,-0.31,0.0,483.4,8.7,202,4395,1.80,0.00,47.78,0.907,6,0.091,0.000,3163,2059,2775
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4399,2.12,78.5,484.1,0.0,203,4469,2.20,0.00,65.50,0.896,6,0.028,0.000,3701,2059,2455
$GC,4703,2.12,78.5,453.5,12.6,211,4707,0.00,2.40,0.00,0.000,4,0.000,0.065,3701,3461,2451
$GC,4781,2.12,78.5,443.5,12.9,212,4787,0.00,2.38,0.00,0.000,6,0.000,0.044,3701,2041,2451
$GC,5031,2.12,78.5,414.2,11.5,219,5035,0.00,2.35,0.00,0.000,4,0.000,0.044,3701,3463,2449
$GC,5052,2.12,78.5,411.6,11.7,219,5057,0.00,2.30,0.00,0.000,6,0.000,0.040,3702,2049,2448
$GC,5309,2.12,78.5,385.8,9.9,226,5313,0.00,2.33,0.00,0.000,4,0.000,0.044,3701,3462,2447
$GC,5533,2.12,78.5,364.1,9.3,231,5537,0.00,2.30,0.00,0.000,6,0.000,0.038,3702,2038,2445
$GC,5811,2.12,78.5,337.8,10.0,238,5815,0.00,2.33,0.00,0.000,4,0.000,0.038,3701,3463,2443
$GC,6069,2.13,87.2,317.1,7.5,243,6080,0.00,2.30,6.38,0.684,6,0.000,0.041,3702,2043,2419
$GC,6359,2.16,108.8,301.1,5.4,251,6380,0.00,0.00,19.35,0.792,6,0.000,0.000,3702,2043,2331
$GC,6602,2.16,108.8,277.6,10.6,257,6606,0.00,2.33,0.00,0.000,4,0.000,0.037,3701,3464,2327
$GC,6747,2.16,108.8,261.5,10.1,260,6751,0.00,2.30,0.00,0.000,6,0.000,0.035,3702,2045,2326
$GC,7014,2.16,109.1,238.6,8.8,267,7018,0.00,2.30,0.00,0.000,4,0.000,0.041,3701,3464,2325
$GC,7272,2.17,117.7,217.9,7.5,272,7287,0.00,2.28,7.85,0.653,6,0.000,0.031,3701,2047,2294
$GC,7539,2.19,128.8,198.1,7.1,280,7555,0.00,2.33,11.00,0.668,4,0.000,0.041,3702,3470,2248
$GC,7807,2.19,128.8,170.6,10.6,303,7815,0.00,2.30,0.00,0.000,6,0.000,0.032,3701,2055,2246
$GC,8068,2.19,128.8,144.7,9.0,328,8072,0.00,2.28,0.00,0.000,4,0.000,0.033,3702,3474,2246
$GC,8326,2.20,137.5,123.1,7.5,350,8343,0.00,2.30,8.32,0.571,6,0.000,0.031,3701,2054,2213
$GC,8602,2.20,137.5,99.3,8.9,376,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3702,2053,2213
$GC,8866,2.22,153.9,78.5,6.3,401,8892,0.00,2.33,15.25,0.573,4,0.000,0.036,3701,3462,2146
$GC,8898,2.24,175.2,76.4,5.5,403,8922,0.00,2.30,19.23,0.572,6,0.000,0.030,3701,2049,2059
$GC,9190,2.24,175.2,47.1,11.9,430,9194,0.00,2.28,0.00,0.000,4,0.000,0.033,3701,3467,2056
$GC,9212,2.24,175.2,43.6,12.1,431,9220,0.00,2.28,0.00,0.000,6,0.000,0.031,3701,2051,2056
$GC,9481,2.24,175.2,12.1,12.0,469,9489,0.00,2.30,0.00,0.000,4,0.000,0.039,3701,3466,2056
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9555,begin surface coast
$FINISH,0.7,1.023065
$STATE,9573,end surface coast,CONTROL_FINISHED_OK
$STATE,9573,begin surface
$SM_CCo,9600,115.90,0.529,0,0,1470,320.12
$SM_GC,1.18,0.00,0.00,115.90,0.000,0.000,0.529,468,1948,1470,-12.71,-0.06,320.12
$IRIDIUM_FIX,2241.69,-15748.90,041097,151553
$TT8_MAMPS,0.026078
$HUMID,1638
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,23.00
$XPDR_PINGS,463
$ALTIM_BOTTOM_PING,170.3,6.5
$24V_AH,23.7,50.843
$10V_AH,10.2,41.788
$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,30.000,96.950,200.650,115.900,0.000,30.850,28.318,148.745,118.500,0.000,0.000,15.148,999.134,6447.073,422.336,1735.846,444.747,0.000,1112.853,0.000,1720.166,0.000,19.319
$DEVICE_MAMPS,181.779,164.905,907.361,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.226,268.419,374.262,385.250,812.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38166,485
$CAP_FILE_SIZE,85363,0
$CFSIZE,260165632,239984640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100708,210153,2248.053,-15748.645,7,2.2,26,10.1