version: 66.03
glider: 146
mission: 2
dive: 443
start: 7 14 108 4 24 10
data:
$ID,146
$MISSION,2
$DIVE,443
$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,-15634.366
$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,47
$R_STBD_OVSHOOT,50
$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
$GPS1,041437,2248.778,-15748.836,35,0.8,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.6
$GPS2,042345,2248.840,-15748.839,14,0.8,14,10.1
$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,179.9,1580,-28.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.80,-35.6,0.0,0.0,0,77,0.00,0.00,-52.45,0.000,2,0.000,0.000,469,1932,2846
$GC,80,-1.83,-53.1,3.2,-4.9,7,105,12.48,2.30,-3.12,0.000,4,0.178,0.066,2718,571,2992
$GC,289,-1.58,-53.1,54.1,-22.7,34,294,0.28,2.15,0.00,0.000,6,0.133,0.026,2770,1959,2994
$GC,553,-1.54,-53.1,98.5,-16.5,58,557,0.00,2.17,0.00,0.000,4,0.000,0.031,2770,3347,2995
$GC,595,-1.54,-53.1,105.7,-17.1,61,599,0.00,2.20,0.00,0.000,6,0.000,0.028,2770,1957,2995
$GC,860,-1.54,-53.1,145.2,-14.9,85,864,0.00,2.42,0.00,0.000,4,0.000,0.068,2770,552,2996
$GC,878,-1.50,-53.1,148.1,-13.5,86,882,0.10,2.20,0.00,0.000,6,0.129,0.030,2787,1957,2996
$GC,1140,-1.55,-53.1,180.7,-12.6,110,1144,0.00,2.17,0.00,0.000,4,0.000,0.029,2788,3345,2996
$GC,1191,-1.63,-53.1,187.2,-12.2,114,1195,0.10,2.20,0.00,0.000,6,0.057,0.025,2746,1947,2996
$GC,1456,-1.63,-53.1,223.0,-13.7,127,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1947,2997
$GC,1699,-1.63,-53.1,254.5,-13.0,133,1704,0.00,2.45,0.00,0.000,4,0.000,0.077,2745,555,2997
$GC,1733,-1.58,-53.1,259.2,-13.3,133,1740,0.15,2.20,0.00,0.000,6,0.107,0.037,2774,1937,2997
$GC,1984,-1.65,-53.1,286.1,-10.2,140,1988,0.00,2.22,0.00,0.000,4,0.000,0.034,2774,3348,2997
$GC,2025,-1.75,-53.1,290.4,-11.0,141,2029,0.15,2.22,0.00,0.000,6,0.046,0.032,2720,1960,2997
$GC,2309,-1.75,-53.1,322.7,-11.1,148,2312,0.00,2.22,0.00,0.000,4,0.000,0.040,2720,3343,2997
$GC,2331,-1.75,-53.1,325.5,-11.6,148,2335,0.00,2.28,0.00,0.000,6,0.000,0.040,2720,1948,2997
$GC,2592,-1.75,-53.1,353.2,-10.2,155,2596,0.00,2.28,0.00,0.000,4,0.000,0.044,2720,3341,2997
$GC,2677,-1.75,-53.1,362.4,-10.2,157,2681,0.00,2.30,0.00,0.000,6,0.000,0.047,2720,1955,2997
$GC,2962,-1.75,-53.1,393.9,-11.3,164,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1954,2995
$GC,3205,-1.75,-53.1,422.2,-11.4,170,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1954,2994
$GC,3448,-1.75,-53.1,448.6,-10.9,176,3452,0.00,2.33,0.00,0.000,4,0.000,0.058,2720,3334,2992
$GC,3522,-1.75,-53.1,456.7,-11.1,177,3526,0.00,2.33,0.00,0.000,6,0.000,0.054,2720,1950,2992
$STATE,3777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3777,begin apogee
$GC,3784,-0.31,0.0,483.1,10.2,184,3834,1.50,0.00,45.55,0.890,6,0.098,0.000,3050,2045,2775
$STATE,3834,end apogee,CONTROL_FINISHED_OK
$STATE,3835,begin climb
$GC,3837,1.83,53.1,485.0,0.0,185,3892,1.95,2.50,45.15,0.876,4,0.042,0.059,3520,3447,2557
$GC,4016,1.83,54.9,475.5,7.0,189,4020,0.00,2.38,0.00,0.000,6,0.000,0.050,3521,2049,2556
$GC,4294,1.84,63.3,458.5,6.1,196,4308,0.00,2.67,9.10,0.779,4,0.000,0.110,3521,643,2516
$GC,4384,1.76,63.3,452.7,7.6,198,4388,0.00,2.33,0.00,0.000,6,0.000,0.044,3520,2040,2515
$GC,4668,1.77,68.9,433.5,6.5,205,4678,0.00,2.40,5.62,0.683,4,0.000,0.055,3520,3456,2493
$GC,4803,1.77,68.9,423.8,7.6,208,4808,0.00,2.33,0.00,0.000,6,0.000,0.040,3520,2045,2492
$GC,5082,1.78,77.1,405.2,6.1,215,5096,0.00,2.38,7.85,0.755,4,0.000,0.045,3520,3459,2460
$GC,5120,1.79,82.9,402.8,6.5,215,5131,0.00,2.33,6.43,0.706,6,0.000,0.044,3520,2046,2437
$GC,5410,1.79,86.1,383.9,6.8,223,5419,0.00,2.38,4.07,0.571,4,0.000,0.038,3520,3464,2423
$GC,5546,1.79,88.4,374.2,7.0,226,5555,0.00,2.33,3.75,0.534,6,0.000,0.041,3520,2041,2413
$GC,5835,1.80,91.3,354.3,6.9,233,5844,0.00,2.38,3.83,0.538,4,0.000,0.044,3520,3466,2402
$GC,6098,1.83,91.3,334.8,7.8,238,6104,0.00,2.30,0.00,0.000,6,0.000,0.040,3520,2045,2401
$GC,6349,1.88,97.0,318.3,6.5,245,6357,0.00,0.00,6.05,0.671,6,0.000,0.000,3520,2045,2379
$GC,6592,1.92,100.4,301.6,6.8,251,6601,0.00,2.33,4.38,0.568,4,0.000,0.042,3520,3466,2365
$GC,6720,1.97,100.4,292.9,7.4,253,6727,0.12,2.30,0.00,0.000,6,0.068,0.032,3553,2042,2365
$GC,6971,1.98,102.9,275.4,6.9,260,6976,0.00,0.00,3.83,0.507,6,0.000,0.000,3552,2041,2354
$GC,7214,1.99,114.4,260.3,5.7,266,7230,0.00,2.33,11.10,0.719,4,0.000,0.035,3553,3466,2307
$GC,7382,2.00,121.5,249.6,6.3,269,7396,0.00,2.30,7.47,0.658,6,0.000,0.032,3552,2037,2278
$GC,7675,2.00,121.7,229.1,7.2,277,7679,0.00,2.38,0.00,0.000,4,0.000,0.071,3553,651,2277
$GC,7708,1.95,121.7,226.4,8.0,277,7714,0.00,2.25,0.00,0.000,6,0.000,0.029,3553,2082,2277
$GC,7959,1.95,121.7,206.2,8.0,284,7962,0.00,2.42,0.00,0.000,4,0.000,0.064,3552,647,2277
$GC,8134,1.91,121.7,191.2,9.0,293,8140,0.00,2.20,0.00,0.000,6,0.000,0.026,3552,2052,2276
$GC,8396,1.95,121.7,169.7,8.9,318,8400,0.00,2.22,0.00,0.000,4,0.000,0.035,3552,3450,2276
$GC,8554,2.00,121.7,158.1,8.9,331,8558,0.00,2.22,0.00,0.000,6,0.000,0.031,3552,2042,2277
$GC,8821,2.07,132.7,139.8,5.8,355,8839,0.00,0.00,10.23,0.598,6,0.000,0.000,3553,2042,2235
$GC,9097,2.14,143.7,121.7,5.8,381,9116,0.15,0.00,11.15,0.586,6,0.055,0.000,3598,2042,2188
$GC,9373,2.14,143.7,100.6,8.2,407,9376,0.00,2.35,0.00,0.000,4,0.000,0.059,3598,651,2188
$GC,9389,2.10,143.7,98.6,8.7,408,9397,0.05,2.20,0.00,0.000,6,0.131,0.024,3586,2047,2187
$GC,9655,2.11,150.5,79.0,6.3,433,9668,0.00,2.38,7.55,0.514,4,0.000,0.056,3586,645,2160
$GC,9706,2.07,150.5,74.9,8.8,437,9710,0.00,2.20,0.00,0.000,6,0.000,0.024,3586,2051,2159
$GC,9970,2.11,150.5,53.8,8.1,461,9974,0.00,2.35,0.00,0.000,4,0.000,0.054,3586,647,2159
$GC,9987,2.11,150.5,52.3,7.5,462,9995,0.00,2.20,0.00,0.000,6,0.000,0.023,3586,2048,2159
$GC,10251,2.16,154.5,36.7,6.7,487,10265,0.00,2.25,5.10,0.427,4,0.000,0.032,3586,3445,2144
$GC,10403,2.23,165.6,27.4,5.7,504,10420,0.00,2.25,11.07,0.504,6,0.000,0.035,3586,2045,2098
$GC,10687,2.30,165.6,7.8,7.9,554,10696,0.15,2.38,0.00,0.000,4,0.057,0.054,3632,651,2096
$STATE,10746,end climb,SURFACE_DEPTH_REACHED
$STATE,10746,begin surface coast
$FINISH,0.5,1.017448
$STATE,10780,end surface coast,CONTROL_FINISHED_OK
$STATE,10781,begin surface
$SM_CCo,10807,123.65,0.520,0,0,1470,320.12
$SM_GC,0.94,0.00,0.00,123.65,0.000,0.000,0.520,467,1998,1470,-12.20,1.36,320.12
$IRIDIUM_FIX,2239.35,-15749.78,081097,040421
$TT8_MAMPS,0.026078
$HUMID,1611
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,23.80
$XPDR_PINGS,536
$24V_AH,23.7,53.406
$10V_AH,10.2,44.552
$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,29.950,115.025,209.275,123.650,0.000,58.182,59.973,232.824,144.500,0.000,0.000,16.179,1184.478,7156.327,428.714,2071.578,645.780,0.000,1220.849,0.000,2032.299,0.000,67.229
$DEVICE_MAMPS,177.944,110.448,890.487,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.267,326.865,450.248,485.087,1021.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44356,570
$CAP_FILE_SIZE,109926,0
$CFSIZE,260165632,238530560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140708,072729,2248.486,-15748.978,7,99.0,26,10.1