version: 66.03
glider: 146
mission: 2
dive: 442
start: 7 14 108 1 11 56
data:
$ID,146
$MISSION,2
$DIVE,442
$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,220
$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,-15617.555
$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,29
$R_STBD_OVSHOOT,48
$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
$GPS1,010237,2248.752,-15748.817,28,1.2,28,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.7
$GPS2,011133,2248.849,-15748.841,12,1.6,12,10.1
$SPEED_LIMITS,0.104,0.308
$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,179.7,1596,-27.9,-7.273
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.79,-36.3,0.0,0.0,0,80,0.00,0.00,-52.90,0.000,2,0.000,0.000,466,1950,2855
$GC,84,-1.81,-54.3,3.2,-4.8,7,108,12.57,2.40,-3.12,0.000,4,0.179,0.069,2718,554,2998
$GC,239,-1.55,-54.3,41.3,-22.4,29,244,0.32,2.17,0.00,0.000,6,0.135,0.024,2779,1964,2999
$GC,506,-1.52,-54.3,87.7,-15.5,53,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1965,3001
$GC,767,-1.52,-54.3,129.3,-14.5,78,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1965,3002
$GC,1022,-1.52,-54.3,165.5,-13.8,102,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1965,3003
$GC,1279,-1.55,-54.3,196.1,-10.6,126,1283,0.00,2.17,0.00,0.000,4,0.000,0.031,2779,3343,3003
$GC,1299,-1.60,-54.3,198.3,-11.2,127,1303,0.00,2.20,0.00,0.000,6,0.000,0.028,2779,1948,3003
$GC,1560,-1.64,-54.3,226.6,-10.6,134,1564,0.00,2.42,0.00,0.000,4,0.000,0.076,2779,552,3003
$GC,1606,-1.64,-54.3,231.8,-11.0,135,1610,0.00,2.20,0.00,0.000,6,0.000,0.035,2779,1939,3004
$GC,1891,-1.69,-54.3,262.5,-11.2,142,1896,0.12,2.22,0.00,0.000,4,0.052,0.033,2732,3345,3004
$GC,1924,-1.69,-54.3,266.9,-12.5,142,1930,0.10,2.20,0.00,0.000,6,0.111,0.030,2750,1954,3004
$GC,2174,-1.69,-54.3,295.0,-11.3,149,2178,0.00,2.47,0.00,0.000,4,0.000,0.083,2750,555,3003
$GC,2201,-1.69,-54.3,298.1,-11.0,149,2205,0.00,2.22,0.00,0.000,6,0.000,0.040,2750,1937,3004
$GC,2452,-1.72,-54.3,321.2,-8.9,155,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1938,3004
$GC,2696,-1.75,-54.3,343.7,-9.2,161,2700,0.00,2.30,0.00,0.000,4,0.000,0.056,2750,3356,3003
$GC,2724,-1.79,-54.3,346.3,-8.9,161,2729,0.00,2.30,0.00,0.000,6,0.000,0.043,2750,1956,3003
$GC,2980,-1.84,-54.3,369.3,-9.0,168,2985,0.15,2.30,0.00,0.000,4,0.050,0.045,2694,3358,3002
$GC,3013,-1.78,-54.3,372.9,-11.1,168,3020,0.17,2.33,0.00,0.000,6,0.101,0.047,2729,1951,3002
$GC,3264,-1.78,-54.3,397.9,-9.9,175,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1950,3001
$GC,3508,-1.78,-54.3,420.8,-9.2,181,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1950,2999
$GC,3751,-1.78,-54.3,443.9,-9.5,187,3755,0.00,2.35,0.00,0.000,4,0.000,0.055,2729,3352,2997
$GC,3791,-1.78,-54.3,447.6,-9.3,188,3795,0.00,2.35,0.00,0.000,6,0.000,0.052,2729,1942,2997
$GC,4074,-1.78,-54.3,477.1,-10.7,195,4078,0.00,2.65,0.00,0.000,4,0.000,0.116,2729,537,2995
$STATE,4100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4110,-0.31,0.0,480.0,10.5,195,4161,1.45,0.00,46.45,0.897,6,0.095,0.000,3047,2034,2774
$STATE,4162,end apogee,CONTROL_FINISHED_OK
$STATE,4162,begin climb
$GC,4165,1.81,54.3,482.7,0.0,197,4220,1.95,2.55,46.12,0.880,4,0.043,0.073,3530,3456,2552
$GC,4279,1.78,69.7,478.5,5.2,199,4299,0.12,2.38,13.90,0.820,6,0.258,0.046,3508,2044,2489
$GC,4584,1.79,78.5,459.2,6.1,207,4598,0.00,2.67,8.18,0.762,4,0.000,0.106,3508,650,2455
$GC,4684,1.74,80.1,452.1,7.0,209,4688,0.00,2.35,0.00,0.000,6,0.000,0.044,3508,2061,2453
$GC,4956,1.75,89.1,434.7,6.1,216,4971,0.00,2.40,10.00,0.797,4,0.000,0.062,3508,3464,2411
$GC,5096,1.75,89.1,423.7,7.9,219,5100,0.00,2.35,0.00,0.000,6,0.000,0.042,3508,2043,2409
$GC,5369,1.79,89.1,400.8,8.5,226,5373,0.00,2.33,0.00,0.000,4,0.000,0.046,3508,3465,2407
$GC,5397,1.79,89.1,398.4,8.4,226,5401,0.00,2.33,0.00,0.000,6,0.000,0.038,3508,2049,2407
$GC,5648,1.83,89.1,378.3,8.1,232,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2049,2405
$GC,5891,1.87,92.6,361.4,6.8,238,5895,0.00,2.30,0.00,0.000,4,0.000,0.039,3508,3466,2404
$GC,5914,1.92,98.6,359.9,6.5,238,5931,0.12,2.33,8.05,0.742,6,0.069,0.036,3540,2041,2372
$GC,6174,1.92,98.6,339.3,8.0,245,6178,0.00,2.33,0.00,0.000,4,0.000,0.038,3540,3466,2371
$GC,6355,1.92,98.6,324.7,7.5,249,6359,0.00,2.30,0.00,0.000,6,0.000,0.034,3540,2046,2370
$GC,6633,1.92,98.6,303.2,7.7,256,6637,0.00,2.30,0.00,0.000,4,0.000,0.042,3540,3466,2369
$GC,6784,1.92,98.6,291.4,7.9,259,6788,0.00,2.30,0.00,0.000,6,0.000,0.032,3540,2037,2368
$GC,7045,1.93,109.2,275.2,5.8,266,7059,0.00,2.40,9.60,0.720,4,0.000,0.066,3539,654,2329
$GC,7285,1.90,113.8,257.9,6.7,271,7294,0.00,2.25,5.03,0.587,6,0.000,0.028,3540,2076,2311
$GC,7551,1.91,125.8,243.1,5.7,278,7564,0.00,0.00,11.80,0.702,6,0.000,0.000,3540,2076,2262
$GC,7795,1.96,125.8,224.3,8.0,284,7799,0.00,2.45,0.00,0.000,4,0.000,0.067,3540,647,2260
$GC,7850,1.96,125.8,219.5,8.9,285,7854,0.00,2.22,0.00,0.000,6,0.000,0.035,3540,2062,2259
$GC,8117,2.01,125.8,198.7,7.8,292,8122,0.00,2.42,0.00,0.000,4,0.000,0.065,3540,646,2259
$GC,8214,2.01,125.8,191.1,8.2,300,8218,0.00,2.20,0.00,0.000,6,0.000,0.026,3539,2052,2258
$GC,8478,2.08,136.1,174.3,5.9,324,8493,0.15,2.30,9.88,0.624,4,0.061,0.036,3585,3446,2219
$GC,8565,2.08,136.1,167.2,9.0,331,8569,0.00,2.22,0.00,0.000,6,0.000,0.031,3585,2048,2218
$GC,8828,2.08,136.1,143.1,9.7,355,8832,0.00,2.22,0.00,0.000,4,0.000,0.039,3585,3448,2218
$GC,9043,2.08,136.1,122.2,8.6,374,9047,0.00,2.22,0.00,0.000,6,0.000,0.031,3585,2044,2218
$GC,9304,2.08,136.1,102.5,8.2,398,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2044,2219
$GC,9560,2.09,148.0,87.8,5.7,422,9576,0.00,2.28,11.80,0.558,4,0.000,0.040,3585,3448,2170
$GC,9604,2.10,152.8,85.3,6.6,425,9616,0.00,2.22,5.47,0.462,6,0.000,0.038,3585,2048,2151
$GC,9875,2.13,152.8,65.7,7.4,450,9879,0.00,2.22,0.00,0.000,4,0.000,0.032,3585,3444,2151
$GC,9997,2.18,166.1,57.8,5.5,460,10018,0.00,2.25,13.05,0.535,6,0.000,0.030,3585,2050,2096
$GC,10275,2.24,166.1,37.1,7.6,486,10280,0.10,2.22,0.00,0.000,4,0.255,0.031,3614,3443,2095
$GC,10520,2.24,166.1,17.3,7.8,522,10529,0.00,2.22,0.00,0.000,6,0.000,0.038,3614,2056,2095
$STATE,10696,end climb,SURFACE_DEPTH_REACHED
$STATE,10696,begin surface coast
$FINISH,0.5,1.001863
$STATE,10735,end surface coast,CONTROL_FINISHED_OK
$STATE,10735,begin surface
$SM_CCo,10759,123.93,0.520,0,0,1469,320.12
$SM_GC,1.05,0.00,0.00,123.93,0.000,0.000,0.520,468,1932,1469,-12.19,-0.48,320.12
$IRIDIUM_FIX,2239.35,-15749.78,081097,010127
$TT8_MAMPS,0.025311
$HUMID,1614
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,23.90
$XPDR_PINGS,526
$ALTIM_BOTTOM_PING,440.2,2.5
$24V_AH,23.7,53.308
$10V_AH,10.2,44.445
$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,30.000,111.550,199.325,123.925,0.000,54.621,57.232,231.973,141.000,0.000,0.000,14.154,1163.288,7247.355,407.752,1976.252,631.551,0.000,1163.345,0.000,1946.888,0.000,61.432
$DEVICE_MAMPS,257.712,115.817,896.623,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.854,312.988,439.086,464.395,980.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41383,560
$CAP_FILE_SIZE,106236,0
$CFSIZE,260165632,238596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140708,041437,2248.778,-15748.836,35,0.8,35,10.1