version: 66.03
glider: 146
mission: 2
dive: 460
start: 7 16 108 14 27 30
data:
$ID,146
$MISSION,2
$DIVE,460
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,250
$T_MISSION,350
$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,-15949.353
$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,33
$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,0
$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
$GPS1,142126,2248.677,-15748.982,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.0
$GPS2,142708,2248.733,-15749.042,10,1.2,15,10.1
$SPEED_LIMITS,0.114,0.320
$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,166.9,1359,-32.3,-8.000
$D_GRID,600
$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,21,begin dive
$GC,25,-2.06,-31.9,0.0,0.0,0,78,0.00,0.00,-51.65,0.000,2,0.000,0.000,462,1945,2806
$GC,82,-2.08,-51.1,3.2,-4.8,7,106,12.32,2.40,-3.88,0.000,4,0.180,0.071,2660,553,2985
$GC,216,-1.87,-51.1,37.9,-24.7,27,221,0.25,2.20,0.00,0.000,6,0.140,0.025,2706,1963,2987
$GC,482,-1.84,-51.1,89.2,-17.4,51,486,0.00,2.17,0.00,0.000,4,0.000,0.028,2706,3341,2989
$GC,508,-1.84,-51.1,94.2,-17.4,53,512,0.00,2.22,0.00,0.000,6,0.000,0.027,2706,1942,2989
$GC,772,-1.84,-51.1,140.5,-17.0,77,776,0.00,2.22,0.00,0.000,4,0.000,0.029,2706,3349,2990
$GC,788,-1.84,-51.1,144.0,-17.5,78,797,0.00,2.22,0.00,0.000,6,0.000,0.025,2706,1954,2990
$GC,1052,-1.84,-51.1,183.9,-14.3,103,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1954,2991
$GC,1328,-1.88,-51.1,224.9,-15.1,118,1332,0.00,2.20,0.00,0.000,4,0.000,0.031,2706,3337,2991
$GC,1358,-1.93,-51.1,228.8,-13.2,118,1362,0.00,2.20,0.00,0.000,6,0.000,0.030,2706,1954,2992
$GC,1608,-1.98,-51.1,261.8,-12.7,124,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1954,2993
$GC,1852,-2.04,-51.1,292.6,-12.5,130,1857,0.12,2.47,0.00,0.000,4,0.055,0.089,2662,556,2992
$GC,1903,-1.98,-51.1,299.2,-13.0,131,1908,0.12,2.22,0.00,0.000,6,0.112,0.041,2685,1926,2993
$GC,2175,-2.01,-51.1,332.5,-12.7,138,2179,0.00,2.35,0.00,0.000,4,0.000,0.054,2686,3358,2993
$GC,2312,-2.07,-51.1,349.4,-11.7,141,2316,0.00,2.30,0.00,0.000,6,0.000,0.045,2686,1958,2992
$GC,2596,-2.12,-51.1,381.9,-11.2,148,2601,0.12,2.30,0.00,0.000,4,0.054,0.050,2641,3352,2991
$GC,2636,-2.12,-51.1,386.9,-13.4,149,2640,0.00,2.35,0.00,0.000,6,0.000,0.048,2641,1946,2992
$GC,2919,-2.12,-51.1,420.2,-11.4,156,2923,0.00,2.35,0.00,0.000,4,0.000,0.051,2640,3351,2990
$GC,2969,-2.12,-51.1,426.3,-11.6,157,2973,0.00,2.35,0.00,0.000,6,0.000,0.050,2640,1950,2990
$GC,3242,-2.12,-51.1,459.6,-12.3,164,3246,0.00,2.38,0.00,0.000,4,0.000,0.058,2640,3355,2989
$GC,3365,-2.12,-51.1,475.4,-12.1,166,3371,0.00,2.38,0.00,0.000,6,0.000,0.054,2640,1949,2987
$GC,3615,-2.12,-51.1,505.6,-12.5,173,3619,0.00,2.38,0.00,0.000,4,0.000,0.061,2640,3346,2986
$GC,3838,-2.12,-51.1,532.4,-11.3,178,3843,0.00,2.40,0.00,0.000,6,0.000,0.062,2640,1950,2984
$GC,4117,-2.12,-51.1,563.8,-11.4,185,4121,0.00,2.75,0.00,0.000,4,0.000,0.137,2640,542,2982
$GC,4132,-2.12,-51.1,565.7,-10.8,185,4137,0.00,2.40,0.00,0.000,6,0.000,0.071,2640,1939,2982
$GC,4394,-2.12,-51.1,593.9,-10.8,192,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1939,2980
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4479,-0.31,0.0,602.5,10.7,194,4528,1.95,0.00,44.28,1.006,6,0.112,0.000,3049,2047,2775
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4532,2.08,51.1,604.0,0.0,195,4581,2.22,0.00,44.78,0.985,6,0.044,0.000,3579,2047,2566
$GC,4799,2.08,51.1,582.9,8.8,202,4803,0.00,2.60,0.00,0.000,4,0.000,0.102,3580,640,2562
$GC,4849,2.00,51.1,578.3,8.9,203,4854,0.12,2.45,0.00,0.000,6,0.140,0.067,3559,2057,2561
$GC,5122,2.04,58.8,559.2,6.7,210,5136,0.00,2.58,6.88,0.812,4,0.000,0.083,3559,3458,2534
$GC,5311,2.05,67.9,545.4,6.5,214,5325,0.00,2.40,9.00,0.861,6,0.000,0.056,3559,2046,2498
$GC,5588,2.10,67.9,524.2,8.1,221,5593,0.00,2.65,0.00,0.000,4,0.000,0.113,3559,643,2495
$GC,5783,2.10,67.9,506.9,8.7,225,5787,0.00,2.38,0.00,0.000,6,0.000,0.050,3559,2059,2493
$GC,6050,2.16,72.0,486.7,7.3,232,6057,0.12,0.00,4.07,0.631,6,0.077,0.000,3589,2060,2481
$GC,6293,2.16,72.0,466.5,8.5,238,6297,0.00,2.40,0.00,0.000,4,0.000,0.069,3589,3459,2480
$GC,6550,2.16,72.0,444.9,8.2,243,6556,0.00,2.35,0.00,0.000,6,0.000,0.048,3589,2039,2478
$GC,6800,2.17,78.1,427.2,7.0,250,6811,0.00,2.38,6.40,0.764,4,0.000,0.047,3589,3471,2455
$GC,7065,2.17,82.6,409.5,7.3,256,7075,0.00,2.33,5.10,0.690,6,0.000,0.040,3589,2046,2438
$GC,7349,2.19,94.3,392.1,6.0,263,7367,0.00,2.38,11.77,0.837,4,0.000,0.044,3589,3471,2389
$GC,7620,2.19,94.3,369.8,8.4,269,7625,0.00,2.35,0.00,0.000,6,0.000,0.041,3589,2043,2387
$GC,7899,2.22,94.3,346.5,8.3,276,7903,0.00,2.35,0.00,0.000,4,0.000,0.044,3589,3474,2386
$GC,8158,2.22,98.2,327.3,7.3,281,8167,0.00,2.33,4.22,0.584,6,0.000,0.035,3589,2049,2374
$GC,8454,2.27,104.6,307.0,6.9,289,8468,0.10,2.40,7.03,0.707,4,0.079,0.043,3613,3469,2348
$GC,8710,2.27,104.6,284.3,9.1,294,8714,0.00,2.30,0.00,0.000,6,0.000,0.040,3613,2046,2347
$GC,8966,2.27,104.6,262.5,8.5,301,8970,0.00,2.40,0.00,0.000,4,0.000,0.070,3613,643,2346
$GC,9028,2.21,106.3,257.6,7.7,302,9032,0.00,2.25,0.00,0.000,6,0.000,0.034,3613,2072,2346
$GC,9295,2.23,116.5,240.4,6.3,309,9311,0.00,2.30,11.45,0.718,4,0.000,0.043,3613,3447,2299
$GC,9564,2.23,116.5,219.6,8.3,315,9568,0.00,2.25,0.00,0.000,6,0.000,0.031,3613,2048,2298
$GC,9843,2.26,116.6,198.0,8.0,322,9847,0.00,2.28,0.00,0.000,4,0.000,0.038,3613,3452,2297
$GC,9888,2.30,116.7,194.7,8.0,325,9892,0.00,2.25,0.00,0.000,6,0.000,0.038,3614,2042,2298
$GC,10156,2.35,118.6,174.5,7.7,349,10160,0.00,2.28,0.00,0.000,4,0.000,0.035,3614,3452,2298
$GC,10416,2.42,132.0,156.4,5.8,371,10436,0.15,2.25,14.40,0.650,6,0.063,0.030,3654,2047,2236
$GC,10689,2.42,132.0,134.8,8.1,397,10693,0.00,2.38,0.00,0.000,4,0.000,0.066,3653,651,2234
$GC,10839,2.36,137.1,122.2,7.1,410,10853,0.00,2.22,5.50,0.508,6,0.000,0.032,3653,2067,2216
$GC,11112,2.36,137.1,102.2,8.1,435,11117,0.00,2.40,0.00,0.000,4,0.000,0.054,3653,653,2217
$GC,11258,2.31,138.7,88.5,7.7,447,11263,0.15,2.20,0.00,0.000,6,0.127,0.024,3626,2062,2217
$GC,11525,2.40,151.5,71.2,5.9,471,11551,0.00,2.30,14.43,0.565,4,0.000,0.037,3626,3450,2156
$GC,11632,2.49,152.4,63.3,7.8,480,11637,0.15,2.25,0.00,0.000,6,0.061,0.036,3665,2051,2155
$GC,11900,2.53,161.8,42.1,6.4,504,11918,0.00,0.00,10.00,0.513,6,0.000,0.000,3665,2051,2114
$GC,12180,2.58,164.3,20.3,7.6,540,12189,0.00,2.33,3.88,0.360,4,0.000,0.039,3665,3448,2104
$GC,12440,2.64,171.8,3.1,6.7,586,12451,0.08,2.28,5.25,0.408,2,0.057,0.031,3693,2043,2082
$STATE,12451,end climb,SURFACE_DEPTH_REACHED
$STATE,12451,begin surface coast
$FINISH,0.6,1.022945
$STATE,12491,end surface coast,CONTROL_FINISHED_OK
$STATE,12491,begin surface
$SM_CCo,12516,121.38,0.525,0,0,1469,320.12
$SM_GC,0.90,0.00,0.00,121.38,0.000,0.000,0.525,458,1927,1469,-12.25,-0.65,320.12
$IRIDIUM_FIX,2239.35,-15749.78,101097,101021
$TT8_MAMPS,0.026078
$HUMID,1597
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.80
$XPDR_PINGS,542
$24V_AH,23.6,54.974
$10V_AH,10.2,46.358
$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,31.075,126.775,208.425,121.375,0.000,30.731,32.539,144.609,135.500,0.000,0.000,16.662,1293.590,8347.432,430.966,2372.943,538.499,0.000,1376.146,0.000,2354.361,0.000,0.468
$DEVICE_MAMPS,180.245,181.779,1005.537,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.563,313.864,439.426,460.910,973.155,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44459,594
$CAP_FILE_SIZE,117707,0
$CFSIZE,260165632,237522944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160708,175931,2248.794,-15749.306,31,1.4,41,10.1