version: 66.03
glider: 146
mission: 2
dive: 428
start: 7 12 108 6 40 43
data:
$ID,146
$MISSION,2
$DIVE,428
$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,210
$T_MISSION,250
$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,-15320.769
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3175
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,063207,2248.543,-15748.925,32,1.0,32,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.1
$GPS2,064021,2248.570,-15748.977,11,1.2,11,10.1
$SPEED_LIMITS,0.109,0.314
$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,172.1,1056,-32.2,-7.619
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-2.05,-29.6,0.0,0.0,0,76,0.00,0.00,-52.30,0.000,2,0.000,0.000,462,1924,2841
$GC,79,-2.07,-43.2,3.5,-5.3,7,104,12.55,2.33,-2.42,0.000,4,0.178,0.068,2720,563,2955
$GC,248,-1.98,-43.2,43.7,-19.6,30,256,0.10,2.17,0.00,0.000,6,0.142,0.025,2740,1951,2957
$GC,514,-1.98,-43.2,88.6,-15.0,55,519,0.00,2.38,0.00,0.000,4,0.000,0.071,2739,566,2957
$GC,553,-1.98,-43.2,96.1,-17.7,58,561,0.00,2.17,0.00,0.000,6,0.000,0.028,2739,1952,2957
$GC,820,-2.03,-43.2,133.5,-13.3,83,824,0.00,2.17,0.00,0.000,4,0.000,0.028,2740,3343,2959
$GC,884,-2.11,-43.2,143.8,-14.6,88,889,0.12,2.20,0.00,0.000,6,0.051,0.027,2693,1952,2959
$GC,1148,-2.11,-43.2,184.9,-15.2,112,1153,0.10,2.20,0.00,0.000,4,0.113,0.037,2712,3344,2960
$GC,1300,-2.16,-43.2,204.3,-11.2,123,1304,0.00,2.20,0.00,0.000,6,0.000,0.028,2712,1951,2960
$GC,1561,-2.22,-43.2,234.9,-11.4,130,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1950,2960
$GC,1806,-2.28,-43.2,263.6,-11.9,136,1811,0.15,2.22,0.00,0.000,4,0.049,0.034,2653,3340,2961
$GC,1906,-2.28,-43.2,277.9,-13.0,138,1911,0.12,2.22,0.00,0.000,6,0.111,0.033,2677,1958,2961
$GC,2173,-2.28,-43.2,307.7,-10.6,145,2177,0.00,2.22,0.00,0.000,4,0.000,0.038,2677,3335,2961
$GC,2291,-2.32,-43.2,323.1,-12.8,147,2296,0.00,2.25,0.00,0.000,6,0.000,0.040,2677,1953,2961
$GC,2544,-2.32,-43.2,353.3,-11.8,153,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1953,2961
$GC,2787,-2.36,-43.2,380.0,-10.7,159,2791,0.00,2.25,0.00,0.000,4,0.000,0.046,2677,3325,2960
$GC,2837,-2.40,-43.2,385.2,-9.7,160,2842,0.12,2.28,0.00,0.000,6,0.054,0.048,2633,1953,2960
$GC,3121,-2.36,-43.2,415.6,-10.8,167,3122,0.12,0.00,0.00,0.000,6,0.114,0.000,2657,1953,2958
$GC,3365,-2.36,-43.2,441.6,-10.8,173,3369,0.00,2.65,0.00,0.000,4,0.000,0.112,2657,541,2957
$GC,3387,-2.33,-43.2,444.4,-11.9,173,3391,0.00,2.30,0.00,0.000,6,0.000,0.053,2657,1917,2957
$GC,3644,-2.33,-43.2,472.3,-10.6,180,3648,0.00,2.47,0.00,0.000,4,0.000,0.072,2657,3358,2955
$GC,3694,-2.33,-43.2,477.9,-10.3,181,3698,0.00,2.38,0.00,0.000,6,0.000,0.053,2657,1943,2955
$STATE,3713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3713,begin apogee
$GC,3720,-0.31,0.0,480.2,10.4,181,3767,2.05,0.00,38.25,0.887,6,0.111,0.000,3105,2075,2774
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin climb
$GC,3770,2.07,43.2,481.4,0.0,183,3815,2.17,2.67,37.08,0.871,4,0.036,0.097,3636,644,2598
$GC,3827,1.96,56.4,478.7,5.4,184,3849,0.17,2.33,12.40,0.798,6,0.143,0.046,3605,2033,2545
$GC,4093,1.92,56.4,456.3,8.8,191,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2033,2541
$GC,4337,1.90,61.5,438.5,6.7,197,4347,0.00,2.45,4.90,0.630,4,0.000,0.064,3605,3465,2524
$GC,4432,1.87,65.3,432.0,7.0,199,4442,0.12,2.35,4.80,0.621,6,0.142,0.040,3585,2042,2508
$GC,4704,1.88,75.0,415.1,5.9,206,4718,0.00,2.62,9.02,0.769,4,0.000,0.094,3585,645,2469
$GC,4955,1.82,75.4,395.9,7.5,211,4959,0.00,2.30,0.00,0.000,6,0.000,0.039,3585,2064,2466
$GC,5216,1.82,75.6,376.6,7.6,218,5220,0.00,2.28,0.00,0.000,4,0.000,0.044,3585,3458,2465
$GC,5423,1.83,78.5,359.3,7.1,222,5434,0.00,2.30,3.78,0.531,6,0.000,0.041,3585,2042,2454
$GC,5678,1.86,80.3,340.2,7.3,229,5682,0.00,2.30,0.00,0.000,4,0.000,0.042,3585,3456,2453
$GC,5764,1.90,88.0,334.3,6.3,231,5778,0.00,2.28,9.12,0.749,6,0.000,0.038,3585,2040,2415
$GC,6053,1.95,94.6,315.9,6.5,238,6067,0.00,2.47,6.85,0.691,4,0.000,0.074,3585,651,2389
$GC,6189,1.92,99.0,307.0,6.9,241,6199,0.00,2.25,5.25,0.624,6,0.000,0.035,3585,2068,2371
$GC,6473,1.98,102.2,286.8,7.1,248,6482,0.00,2.25,4.15,0.539,4,0.000,0.039,3585,3438,2358
$GC,6736,2.04,106.5,265.3,6.9,253,6747,0.15,2.25,5.15,0.596,6,0.069,0.038,3621,2038,2340
$GC,7025,2.04,106.5,243.6,7.7,261,7029,0.00,2.28,0.00,0.000,4,0.000,0.035,3621,3444,2339
$GC,7182,2.04,106.5,232.5,8.0,264,7186,0.00,2.25,0.00,0.000,6,0.000,0.031,3621,2043,2338
$GC,7437,2.04,106.5,212.9,7.7,271,7441,0.00,2.25,0.00,0.000,4,0.000,0.035,3621,3445,2338
$GC,7509,2.05,110.6,207.9,6.9,272,7521,0.00,2.22,4.62,0.531,6,0.000,0.031,3621,2048,2324
$GC,7770,2.06,119.3,191.3,6.1,288,7784,0.00,2.33,8.93,0.634,4,0.000,0.040,3621,3445,2288
$GC,7948,2.10,120.5,178.0,7.4,303,7956,0.00,2.25,0.00,0.000,6,0.000,0.030,3621,2052,2287
$GC,8216,2.15,128.9,162.5,6.2,328,8230,0.10,2.28,9.45,0.611,4,0.075,0.041,3647,3449,2248
$GC,8483,2.15,128.9,137.8,9.0,352,8487,0.00,2.22,0.00,0.000,6,0.000,0.031,3648,2051,2249
$GC,8744,2.15,128.9,116.2,7.9,376,8748,0.00,2.22,0.00,0.000,4,0.000,0.033,3648,3448,2248
$GC,9003,2.16,136.7,96.8,6.3,399,9017,0.00,2.22,8.30,0.541,6,0.000,0.030,3648,2040,2216
$GC,9286,2.19,136.7,73.5,8.4,425,9290,0.00,2.25,0.00,0.000,4,0.000,0.032,3648,3447,2216
$GC,9350,2.23,136.7,67.2,10.4,430,9354,0.00,2.22,0.00,0.000,6,0.000,0.034,3647,2051,2217
$GC,9617,2.31,157.7,51.5,4.0,454,9644,0.12,2.40,18.73,0.548,4,0.064,0.057,3683,655,2131
$GC,9695,2.24,159.5,46.6,7.3,460,9703,0.00,2.20,0.00,0.000,6,0.000,0.022,3683,2058,2129
$GC,9963,2.24,159.5,23.5,10.5,491,9970,0.00,2.38,0.00,0.000,4,0.000,0.052,3683,656,2129
$STATE,10217,end climb,SURFACE_DEPTH_REACHED
$STATE,10217,begin surface coast
$FINISH,2.0,1.023083
$STATE,10224,end surface coast,CONTROL_FINISHED_OK
$STATE,10225,begin surface
$SM_CCo,10251,130.18,0.522,0,0,1470,320.12
$SM_GC,0.99,0.00,0.00,130.18,0.000,0.000,0.522,463,1970,1470,-12.48,0.54,320.12
$IRIDIUM_FIX,2237.01,-15749.78,061097,060648
$TT8_MAMPS,0.026078
$HUMID,1620
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.40
$XPDR_PINGS,516
$24V_AH,23.7,52.038
$10V_AH,10.2,43.027
$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,31.525,110.400,190.775,130.175,0.000,50.954,56.873,200.595,139.250,0.000,0.000,13.328,1155.442,6648.471,417.326,2064.652,595.547,0.000,1213.417,0.000,2032.916,0.000,64.415
$DEVICE_MAMPS,177.944,111.982,886.652,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.433,303.083,426.376,448.946,945.024,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41374,538
$CAP_FILE_SIZE,106589,0
$CFSIZE,260165632,239341568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120708,093453,2248.431,-15748.996,7,2.8,26,10.1