version: 66.03
glider: 146
mission: 2
dive: 438
start: 7 13 108 12 51 23
data:
$ID,146
$MISSION,2
$DIVE,438
$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,-15535.379
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3120
$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,37
$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
$GPS1,124538,2248.416,-15748.722,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.4
$GPS2,125102,2248.460,-15748.767,10,1.5,15,10.1
$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,195.0,940,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-2.05,-29.6,0.0,0.0,0,77,0.00,0.00,-52.75,0.000,2,0.000,0.000,466,1944,2852
$GC,80,-2.07,-44.3,3.4,-5.1,7,105,12.23,2.40,-2.28,0.000,4,0.179,0.070,2664,563,2958
$GC,256,-1.86,-44.3,50.8,-26.2,30,261,0.25,2.20,0.00,0.000,6,0.137,0.026,2710,1969,2960
$GC,517,-1.86,-44.3,102.9,-17.7,54,521,0.00,2.42,0.00,0.000,4,0.000,0.071,2710,563,2961
$GC,559,-1.78,-44.3,110.0,-18.3,57,564,0.10,2.17,0.00,0.000,6,0.150,0.028,2726,1958,2961
$GC,829,-1.82,-44.3,153.6,-14.0,82,833,0.00,2.17,0.00,0.000,4,0.000,0.030,2726,3341,2963
$GC,885,-1.89,-44.3,162.1,-14.8,86,891,0.00,2.20,0.00,0.000,6,0.000,0.026,2726,1945,2963
$GC,1149,-1.96,-44.3,200.0,-14.3,111,1151,0.15,0.00,0.00,0.000,6,0.049,0.000,2674,1945,2964
$GC,1390,-1.96,-44.3,234.9,-13.9,117,1394,0.00,2.22,0.00,0.000,4,0.000,0.031,2675,3344,2964
$GC,1486,-1.96,-44.3,247.2,-12.5,119,1490,0.00,2.22,0.00,0.000,6,0.000,0.029,2674,1947,2964
$GC,1759,-1.96,-44.3,282.3,-13.0,126,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1947,2965
$GC,2004,-1.96,-44.3,312.0,-12.2,132,2008,0.00,2.25,0.00,0.000,4,0.000,0.041,2674,3328,2966
$GC,2139,-1.96,-44.3,328.3,-11.4,135,2143,0.00,2.25,0.00,0.000,6,0.000,0.041,2674,1956,2965
$GC,2418,-1.96,-44.3,360.2,-11.8,142,2422,0.00,2.60,0.00,0.000,4,0.000,0.099,2674,543,2965
$GC,2479,-1.92,-44.3,367.5,-11.4,143,2484,0.12,2.28,0.00,0.000,6,0.114,0.048,2697,1922,2965
$GC,2741,-1.99,-44.3,394.3,-9.9,150,2745,0.00,2.38,0.00,0.000,4,0.000,0.053,2697,3359,2964
$GC,2775,-2.07,-44.3,397.8,-10.2,150,2781,0.12,2.33,0.00,0.000,6,0.054,0.048,2652,1952,2964
$GC,3025,-2.07,-44.3,426.6,-11.7,157,3029,0.00,2.33,0.00,0.000,4,0.000,0.049,2652,3358,2962
$GC,3052,-2.07,-44.3,429.9,-12.0,157,3057,0.00,2.35,0.00,0.000,6,0.000,0.050,2652,1950,2962
$GC,3308,-2.07,-44.3,461.4,-12.7,164,3312,0.00,2.35,0.00,0.000,4,0.000,0.054,2652,3354,2961
$GC,3352,-2.07,-44.3,467.6,-13.9,165,3356,0.00,2.35,0.00,0.000,6,0.000,0.053,2652,1952,2961
$STATE,3467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3467,begin apogee
$GC,3475,-0.31,0.0,481.2,11.7,168,3518,1.88,0.00,39.30,0.884,6,0.109,0.000,3049,2067,2775
$STATE,3519,end apogee,CONTROL_FINISHED_OK
$STATE,3519,begin climb
$GC,3522,2.07,44.3,483.6,0.0,169,3568,2.15,2.70,38.08,0.864,4,0.042,0.101,3579,640,2593
$GC,3597,2.02,62.4,481.2,4.5,170,3618,0.00,2.35,16.20,0.821,6,0.000,0.048,3579,2034,2520
$GC,3886,2.02,64.8,460.7,7.2,178,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2035,2516
$GC,4130,2.03,72.2,445.1,6.3,184,4140,0.00,0.00,8.70,0.761,6,0.000,0.000,3579,2035,2480
$GC,4373,2.06,72.2,425.4,8.5,190,4377,0.00,2.42,0.00,0.000,4,0.000,0.057,3579,3466,2478
$GC,4389,2.06,72.2,423.9,8.6,190,4393,0.00,2.35,0.00,0.000,6,0.000,0.048,3579,2046,2477
$GC,4650,2.07,76.6,405.1,6.9,197,4659,0.00,2.35,4.50,0.601,4,0.000,0.040,3579,3464,2462
$GC,4913,2.07,79.8,383.8,7.1,202,4922,0.00,2.33,4.40,0.589,6,0.000,0.036,3579,2041,2449
$GC,5208,2.11,79.8,361.4,8.0,210,5212,0.00,2.33,0.00,0.000,4,0.000,0.037,3579,3469,2446
$GC,5241,2.15,82.9,359.0,7.1,210,5251,0.00,2.33,4.05,0.557,6,0.000,0.042,3579,2043,2435
$GC,5537,2.20,85.1,338.0,7.2,218,5541,0.00,2.42,0.00,0.000,4,0.000,0.077,3579,647,2433
$GC,5672,2.20,88.6,327.5,7.0,221,5682,0.00,2.28,5.72,0.653,6,0.000,0.036,3578,2076,2413
$GC,5950,2.28,98.5,310.2,5.9,228,5965,0.15,2.47,9.65,0.733,4,0.176,0.064,3616,649,2372
$GC,6016,2.19,98.5,305.1,8.7,229,6020,0.00,2.25,0.00,0.000,6,0.000,0.030,3616,2062,2372
$GC,6278,2.19,98.5,283.6,8.2,236,6282,0.00,2.42,0.00,0.000,4,0.000,0.061,3616,646,2371
$GC,6288,2.19,98.5,282.5,8.3,236,6292,0.00,2.22,0.00,0.000,6,0.000,0.038,3616,2058,2370
$GC,6561,2.19,98.5,260.5,8.3,243,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2059,2369
$GC,6805,2.21,114.5,247.2,4.9,249,6824,0.00,2.47,13.98,0.720,4,0.000,0.063,3616,654,2307
$GC,7079,2.16,114.5,224.4,9.9,255,7083,0.12,2.20,0.00,0.000,6,0.134,0.026,3594,2055,2306
$GC,7357,2.24,118.8,203.5,6.9,262,7364,0.00,0.00,4.95,0.541,6,0.000,0.000,3594,2056,2291
$GC,7612,2.33,122.6,187.0,7.0,280,7624,0.15,2.22,4.78,0.518,4,0.064,0.033,3638,3445,2274
$GC,7659,2.33,122.7,183.1,7.6,284,7663,0.00,2.22,0.00,0.000,6,0.000,0.030,3638,2043,2275
$GC,7920,2.33,122.7,163.6,8.1,308,7924,0.00,2.25,0.00,0.000,4,0.000,0.031,3638,3451,2275
$GC,7985,2.33,122.7,158.7,8.1,313,7989,0.00,2.20,0.00,0.000,6,0.000,0.029,3638,2045,2274
$GC,8252,2.33,126.9,139.2,6.9,338,8266,0.00,2.28,5.43,0.510,4,0.000,0.033,3638,3447,2257
$GC,8316,2.33,126.9,134.7,7.9,343,8320,0.00,2.22,0.00,0.000,6,0.000,0.029,3638,2041,2257
$GC,8580,2.33,126.9,114.1,7.8,367,8583,0.00,2.25,0.00,0.000,4,0.000,0.038,3638,3453,2257
$GC,8751,2.37,126.9,100.2,8.4,382,8755,0.00,2.22,0.00,0.000,6,0.000,0.038,3638,2049,2258
$GC,9015,2.42,129.6,81.2,7.1,406,9030,0.00,2.40,4.55,0.433,4,0.000,0.057,3638,657,2246
$GC,9264,2.43,137.9,65.6,6.2,428,9279,0.00,2.17,8.68,0.517,6,0.000,0.026,3638,2059,2211
$GC,9536,2.50,147.8,49.2,5.9,453,9551,0.12,2.45,9.68,0.510,4,0.063,0.058,3673,651,2172
$GC,9799,2.46,160.2,30.9,5.5,476,9820,0.00,2.20,11.55,0.505,6,0.000,0.023,3674,2049,2121
$GC,10088,2.46,160.2,8.7,8.5,526,10096,0.00,2.38,0.00,0.000,4,0.000,0.052,3673,654,2121
$GC,10122,2.42,160.2,5.1,10.0,531,10129,0.10,2.20,0.00,0.000,6,0.119,0.024,3650,2047,2121
$STATE,10146,end climb,SURFACE_DEPTH_REACHED
$STATE,10146,begin surface coast
$FINISH,0.5,1.023172
$STATE,10181,end surface coast,CONTROL_FINISHED_OK
$STATE,10181,begin surface
$SM_CCo,10205,128.73,0.520,0,0,1469,320.12
$SM_GC,1.26,0.00,0.00,128.73,0.000,0.000,0.520,463,1927,1469,-12.22,-0.68,320.12
$IRIDIUM_FIX,2239.35,-15749.78,071097,101018
$TT8_MAMPS,0.026078
$HUMID,1599
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,23.60
$XPDR_PINGS,517
$24V_AH,23.7,52.937
$10V_AH,10.2,44.035
$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,30.450,111.375,194.175,128.725,0.000,28.214,40.204,129.091,139.500,0.000,0.000,17.121,1144.877,6644.802,408.959,2000.376,465.485,0.000,1176.820,0.000,1957.713,0.000,66.485
$DEVICE_MAMPS,178.711,101.244,883.584,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.641,304.923,427.559,457.467,964.473,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41475,541
$CAP_FILE_SIZE,103574,0
$CFSIZE,260165632,238809088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,130708,154501,2248.514,-15749.103,37,1.2,42,10.1