version: 66.03
glider: 146
mission: 2
dive: 431
start: 7 12 108 15 51 49
data:
$ID,146
$MISSION,2
$DIVE,431
$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,-15405.323
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,154311,2248.729,-15748.906,10,2.8,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.8
$GPS2,155129,2248.770,-15748.945,10,2.9,29,10.1
$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,173.7,1429,-31.0,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.98,-31.8,0.0,0.0,0,78,0.00,0.00,-52.25,0.000,2,0.000,0.000,464,1930,2830
$GC,81,-2.00,-48.1,3.3,-5.0,7,105,12.55,2.35,-3.08,0.000,4,0.176,0.067,2733,568,2973
$GC,280,-1.88,-48.1,48.3,-21.4,34,285,0.17,2.17,0.00,0.000,6,0.141,0.027,2763,1962,2974
$GC,544,-1.95,-48.1,93.7,-15.0,58,548,0.00,2.17,0.00,0.000,4,0.000,0.035,2763,3341,2976
$GC,587,-2.02,-48.1,99.9,-14.9,61,592,0.12,2.20,0.00,0.000,6,0.051,0.037,2718,1956,2976
$GC,853,-2.02,-48.1,146.6,-15.4,86,857,0.00,2.17,0.00,0.000,4,0.000,0.027,2717,3345,2977
$GC,943,-2.02,-48.1,161.2,-15.6,93,951,0.00,2.22,0.00,0.000,6,0.000,0.032,2718,1950,2977
$GC,1209,-2.02,-48.1,199.1,-12.9,118,1213,0.00,2.20,0.00,0.000,4,0.000,0.037,2717,3345,2978
$GC,1231,-2.06,-48.1,202.9,-13.6,119,1235,0.00,2.20,0.00,0.000,6,0.000,0.027,2718,1950,2978
$GC,1493,-2.06,-48.1,235.5,-11.1,126,1497,0.00,2.22,0.00,0.000,4,0.000,0.031,2717,3349,2978
$GC,1543,-2.11,-48.1,241.9,-12.9,127,1547,0.00,2.22,0.00,0.000,6,0.000,0.029,2718,1950,2978
$GC,1817,-2.15,-48.1,273.4,-10.8,134,1820,0.00,2.47,0.00,0.000,4,0.000,0.080,2717,553,2979
$GC,1844,-2.15,-48.1,276.9,-11.8,134,1848,0.00,2.22,0.00,0.000,6,0.000,0.040,2717,1934,2979
$GC,2100,-2.21,-48.1,306.6,-12.2,141,2101,0.10,0.00,0.00,0.000,6,0.061,0.000,2679,1935,2979
$GC,2343,-2.21,-48.1,336.1,-12.3,147,2347,0.00,2.33,0.00,0.000,4,0.000,0.056,2679,3355,2979
$GC,2405,-2.21,-48.1,343.4,-10.9,148,2409,0.00,2.28,0.00,0.000,6,0.000,0.041,2679,1961,2979
$GC,2674,-2.21,-48.1,371.9,-10.6,155,2678,0.00,2.28,0.00,0.000,4,0.000,0.045,2679,3349,2978
$GC,2753,-2.21,-48.1,380.5,-10.7,156,2759,0.00,2.33,0.00,0.000,6,0.000,0.048,2679,1952,2977
$GC,3003,-2.21,-48.1,408.9,-11.6,163,3007,0.00,2.60,0.00,0.000,4,0.000,0.105,2678,540,2976
$GC,3036,-2.16,-48.1,413.1,-12.7,163,3043,0.12,2.33,0.00,0.000,6,0.112,0.053,2702,1934,2976
$GC,3289,-2.22,-48.1,441.0,-11.1,170,3293,0.00,2.40,0.00,0.000,4,0.000,0.061,2702,3359,2974
$GC,3330,-2.29,-48.1,445.7,-11.0,171,3334,0.12,2.33,0.00,0.000,6,0.054,0.050,2659,1950,2974
$GC,3613,-2.29,-48.1,479.3,-12.0,178,3617,0.00,2.60,0.00,0.000,4,0.000,0.108,2659,544,2972
$STATE,3621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3621,begin apogee
$GC,3631,-0.31,0.0,480.5,11.2,178,3677,2.03,0.00,41.62,0.889,6,0.109,0.000,3104,2047,2774
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3678,begin climb
$GC,3681,2.00,48.1,482.1,0.0,179,3731,2.08,2.50,40.67,0.868,4,0.034,0.074,3624,3451,2578
$GC,3913,1.90,48.1,465.4,7.8,184,3918,0.17,2.35,0.00,0.000,6,0.137,0.043,3593,2041,2577
$GC,4186,1.86,58.2,448.3,6.0,191,4200,0.00,2.62,9.20,0.775,4,0.000,0.109,3593,646,2536
$GC,4454,1.74,58.2,425.8,8.1,197,4459,0.20,2.33,0.00,0.000,6,0.140,0.041,3558,2057,2534
$GC,4738,1.75,69.8,408.1,5.8,204,4751,0.00,0.00,10.25,0.788,6,0.000,0.000,3558,2058,2489
$GC,5027,1.76,75.3,389.3,6.7,211,5038,0.00,2.33,6.00,0.689,4,0.000,0.047,3558,3459,2466
$GC,5060,1.76,76.4,386.8,7.5,211,5066,0.00,2.33,0.00,0.000,6,0.000,0.041,3558,2037,2466
$GC,5310,1.76,79.1,368.6,7.2,218,5319,0.00,2.47,4.47,0.600,4,0.000,0.077,3557,642,2452
$GC,5451,1.73,79.1,356.6,8.0,221,5455,0.00,2.30,0.00,0.000,6,0.000,0.034,3558,2074,2451
$GC,5729,1.79,89.7,339.5,5.9,228,5743,0.00,2.25,9.88,0.758,4,0.000,0.039,3558,3449,2409
$GC,5841,1.84,95.2,331.8,6.7,230,5852,0.00,2.28,6.22,0.673,6,0.000,0.035,3557,2047,2386
$GC,6103,1.89,95.2,312.0,7.7,237,6107,0.12,2.28,0.00,0.000,4,0.201,0.036,3588,3448,2384
$GC,6214,1.89,95.2,301.6,8.4,239,6218,0.00,2.28,0.00,0.000,6,0.000,0.034,3588,2040,2383
$GC,6470,1.90,102.5,284.5,6.5,246,6479,0.00,0.00,7.12,0.682,6,0.000,0.000,3588,2040,2357
$GC,6714,1.90,102.5,266.3,7.8,252,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2040,2356
$GC,6958,1.91,111.3,250.0,6.2,258,6972,0.00,2.33,8.55,0.687,4,0.000,0.039,3588,3443,2321
$GC,6984,1.92,122.2,248.5,5.9,258,7001,0.00,2.25,11.10,0.699,6,0.000,0.031,3588,2047,2276
$GC,7245,1.96,122.2,228.5,8.3,265,7248,0.00,2.28,0.00,0.000,4,0.000,0.042,3588,3456,2274
$GC,7404,2.01,122.2,214.8,7.6,268,7408,0.10,2.25,0.00,0.000,6,0.076,0.038,3613,2043,2272
$GC,7662,2.01,122.2,192.3,10.0,280,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2043,2272
$GC,7923,2.01,123.3,171.4,7.4,305,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2043,2272
$GC,8178,2.01,123.3,153.1,8.8,329,8182,0.00,2.28,0.00,0.000,4,0.000,0.035,3613,3458,2272
$GC,8436,2.01,124.2,132.7,7.5,351,8442,0.00,2.25,0.00,0.000,6,0.000,0.030,3613,2044,2272
$GC,8700,2.07,142.1,117.3,4.8,376,8721,0.00,0.00,17.40,0.606,6,0.000,0.000,3613,2044,2194
$GC,8979,2.12,142.5,98.0,7.5,402,8983,0.10,2.35,0.00,0.000,4,0.071,0.059,3641,654,2193
$GC,9039,2.06,142.5,92.9,8.8,407,9044,0.00,2.20,0.00,0.000,6,0.000,0.025,3641,2064,2192
$GC,9304,2.06,146.3,69.0,7.0,431,9318,0.00,2.22,5.18,0.449,4,0.000,0.032,3642,3445,2177
$GC,9565,2.08,163.1,47.1,4.9,454,9587,0.00,2.25,15.40,0.539,6,0.000,0.033,3641,2050,2110
$GC,9846,2.13,164.3,24.9,7.4,485,9854,0.00,2.25,0.00,0.000,4,0.000,0.032,3641,3440,2108
$STATE,10096,end climb,SURFACE_DEPTH_REACHED
$STATE,10096,begin surface coast
$FINISH,0.5,1.023195
$STATE,10130,end surface coast,CONTROL_FINISHED_OK
$STATE,10131,begin surface
$SM_CCo,10157,126.97,0.522,0,0,1470,320.12
$SM_GC,1.12,0.00,0.00,126.97,0.000,0.000,0.522,460,1941,1470,-12.49,-0.25,320.12
$IRIDIUM_FIX,2241.69,-15749.78,061097,151551
$TT8_MAMPS,0.026078
$HUMID,1628
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,23.50
$XPDR_PINGS,521
$24V_AH,23.8,52.318
$10V_AH,10.2,43.333
$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,30.850,106.475,193.075,126.975,0.000,56.389,105.545,135.477,140.500,0.000,0.000,32.216,1120.572,6716.852,399.130,1978.034,572.100,0.000,1155.073,0.000,1930.357,0.000,64.421
$DEVICE_MAMPS,200.954,108.914,888.953,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.312,301.755,424.299,448.018,942.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41443,536
$CAP_FILE_SIZE,100102,0
$CFSIZE,260165632,239190016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120708,184431,2248.623,-15748.903,36,1.3,36,10.1