version: 66.03
glider: 146
mission: 2
dive: 490
start: 7 21 108 18 27 8
data:
$ID,146
$MISSION,2
$DIVE,490
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1000
$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,333
$T_MISSION,360
$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,-16467.193
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,182108,2248.146,-15749.066,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.7
$GPS2,182645,2248.206,-15749.087,14,0.9,14,10.1
$SPEED_LIMITS,0.114,0.321
$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,148.7,410,-32.3,-8.008
$D_GRID,800
$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,23,-2.06,-31.9,0.0,0.0,0,74,0.00,0.00,-49.08,0.000,2,0.000,0.000,463,1937,2753
$GC,78,-2.07,-38.5,3.3,-6.9,9,102,12.18,2.35,-3.95,0.000,4,0.176,0.063,2660,563,2934
$GC,223,-1.89,-38.5,42.9,-25.0,30,230,0.25,2.17,0.00,0.000,6,0.139,0.029,2706,1964,2936
$GC,551,-1.89,-38.5,100.0,-15.7,61,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1964,2938
$GC,877,-1.89,-38.5,153.4,-14.8,92,881,0.00,2.20,0.00,0.000,4,0.000,0.029,2706,3351,2939
$GC,894,-1.89,-38.5,156.0,-14.3,93,898,0.00,2.20,0.00,0.000,6,0.000,0.025,2706,1958,2939
$GC,1222,-1.92,-38.5,201.5,-13.6,123,1226,0.00,2.20,0.00,0.000,4,0.000,0.036,2706,3340,2940
$GC,1273,-1.96,-38.5,209.3,-14.6,124,1277,0.00,2.20,0.00,0.000,6,0.000,0.026,2706,1949,2940
$GC,1587,-2.00,-38.5,247.9,-11.7,132,1591,0.00,2.42,0.00,0.000,4,0.000,0.070,2706,552,2941
$GC,1631,-2.00,-38.5,253.6,-12.5,133,1635,0.00,2.20,0.00,0.000,6,0.000,0.031,2706,1940,2941
$GC,1950,-2.06,-38.5,289.3,-11.1,141,1952,0.15,0.00,0.00,0.000,6,0.048,0.000,2653,1940,2942
$GC,2274,-2.06,-38.5,328.4,-11.8,149,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1939,2942
$GC,2599,-2.06,-38.5,365.0,-10.8,157,2603,0.00,2.33,0.00,0.000,4,0.000,0.050,2653,3343,2941
$GC,2622,-2.06,-38.5,367.6,-11.4,157,2626,0.00,2.28,0.00,0.000,6,0.000,0.042,2653,1963,2941
$GC,2958,-2.06,-38.5,405.8,-11.4,166,2962,0.00,2.28,0.00,0.000,4,0.000,0.043,2653,3342,2940
$GC,3217,-2.06,-38.5,434.0,-11.0,171,3223,0.00,2.35,0.00,0.000,6,0.000,0.054,2653,1954,2938
$GC,3549,-2.06,-38.5,467.7,-9.6,180,3553,0.00,2.35,0.00,0.000,4,0.000,0.054,2653,3347,2937
$GC,3582,-2.06,-38.5,471.2,-10.6,180,3588,0.00,2.38,0.00,0.000,6,0.000,0.053,2653,1943,2937
$GC,3913,-2.06,-38.5,499.9,-8.2,189,3917,0.00,2.38,0.00,0.000,4,0.000,0.059,2653,3340,2934
$GC,4172,-2.06,-38.5,525.9,-10.4,194,4176,0.00,2.40,0.00,0.000,6,0.000,0.064,2653,1944,2933
$GC,4503,-2.06,-38.5,559.8,-9.8,202,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1944,2931
$GC,4828,-2.06,-38.5,592.5,-10.1,210,4832,0.00,2.45,0.00,0.000,4,0.000,0.074,2653,3340,2929
$GC,4880,-2.06,-38.5,597.9,-10.1,211,4885,0.00,2.42,0.00,0.000,6,0.000,0.078,2653,1952,2928
$GC,5200,-2.06,-38.5,627.8,-9.4,219,5204,0.00,2.45,0.00,0.000,4,0.000,0.090,2653,3333,2927
$GC,5346,-2.10,-38.5,641.9,-9.8,222,5351,0.00,2.50,0.00,0.000,6,0.000,0.090,2653,1949,2925
$GC,5695,-2.10,-38.5,672.4,-8.5,231,5699,0.00,2.55,0.00,0.000,4,0.000,0.104,2653,3337,2923
$GC,5872,-2.13,-38.5,687.6,-8.1,235,5877,0.00,2.58,0.00,0.000,6,0.000,0.104,2653,1952,2922
$GC,6197,-2.17,-40.2,713.6,-7.7,243,6201,0.00,2.67,0.00,0.000,4,0.000,0.114,2653,533,2920
$GC,6213,-2.17,-41.4,715.0,-7.8,243,6218,0.00,2.35,0.00,0.000,6,0.000,0.062,2653,1923,2919
$GC,6556,-2.21,-41.4,743.0,-8.3,252,6561,0.00,2.55,0.00,0.000,4,0.000,0.092,2653,3358,2917
$GC,6687,-2.24,-41.4,754.5,-9.7,255,6692,0.00,2.42,0.00,0.000,6,0.000,0.067,2653,1947,2917
$GC,7012,-2.28,-41.4,782.1,-8.4,263,7017,0.12,2.45,0.00,0.000,4,0.197,0.066,2615,3362,2915
$GC,7136,-2.28,-41.4,793.6,-8.9,265,7142,0.00,2.45,0.00,0.000,6,0.000,0.065,2615,1946,2915
$STATE,7220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7220,begin apogee
$GC,7228,-0.31,0.0,801.2,8.9,268,7265,2.08,0.00,32.20,1.174,6,0.117,0.000,3046,2063,2775
$STATE,7265,end apogee,CONTROL_FINISHED_OK
$STATE,7265,begin climb
$GC,7268,2.07,41.4,802.4,0.0,269,7311,2.25,0.00,37.78,1.157,6,0.048,0.000,3578,2063,2606
$GC,7629,2.07,41.4,774.2,8.5,278,7633,0.00,2.38,0.00,0.000,4,0.000,0.061,3578,3448,2603
$GC,7806,2.07,41.4,758.6,9.3,282,7810,0.00,2.38,0.00,0.000,6,0.000,0.057,3578,2048,2602
$GC,8131,2.07,41.4,731.9,8.1,290,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2048,2601
$GC,8455,2.08,50.1,709.5,6.5,298,8470,0.00,2.42,8.23,0.986,4,0.000,0.057,3578,3448,2569
$GC,8603,2.08,54.1,699.6,7.3,301,8613,0.00,2.40,5.00,0.823,6,0.000,0.051,3578,2046,2554
$GC,8957,2.10,67.6,677.7,5.7,310,8976,0.00,2.72,13.05,1.047,4,0.000,0.108,3578,643,2499
$GC,9034,2.02,67.9,672.1,8.0,311,9038,0.00,2.33,0.00,0.000,6,0.000,0.042,3578,2046,2497
$GC,9371,2.02,67.9,644.3,8.5,320,9375,0.00,2.45,0.00,0.000,4,0.000,0.077,3578,3458,2497
$GC,9500,2.02,67.9,632.2,8.8,322,9506,0.00,2.40,0.00,0.000,6,0.000,0.048,3578,2039,2496
$GC,9832,2.02,67.9,603.4,8.7,331,9836,0.00,2.40,0.00,0.000,4,0.000,0.055,3578,3463,2495
$GC,10089,2.02,67.9,579.0,9.2,336,10095,0.00,2.40,0.00,0.000,6,0.000,0.054,3578,2043,2495
$GC,10421,2.02,67.9,551.2,8.3,345,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2044,2494
$GC,10746,2.02,69.6,524.8,7.7,353,10750,0.00,2.38,0.00,0.000,4,0.000,0.048,3578,3462,2494
$GC,10882,2.03,81.8,516.2,6.0,356,10901,0.00,2.38,12.95,0.957,6,0.000,0.051,3578,2045,2440
$GC,11246,2.04,86.7,490.5,7.2,365,11253,0.00,0.00,5.70,0.792,6,0.000,0.000,3578,2046,2421
$GC,11571,2.07,86.7,462.5,8.7,373,11575,0.00,2.35,0.00,0.000,4,0.000,0.045,3578,3463,2420
$GC,11829,2.07,88.6,441.1,7.7,378,11835,0.00,2.35,0.00,0.000,6,0.000,0.041,3578,2043,2419
$GC,12161,2.08,94.8,418.8,7.0,387,12175,0.00,2.40,8.68,0.845,4,0.000,0.045,3578,3458,2387
$GC,12431,2.12,94.8,391.8,9.2,393,12435,0.00,2.33,0.00,0.000,6,0.000,0.044,3578,2042,2386
$GC,12757,2.17,98.3,365.3,7.4,401,12766,0.00,2.38,4.38,0.633,4,0.000,0.041,3578,3468,2374
$GC,12947,2.22,99.4,349.7,7.8,405,12951,0.10,2.33,0.00,0.000,6,0.079,0.036,3603,2047,2374
$GC,13265,2.22,99.4,322.7,8.8,413,13270,0.00,2.35,0.00,0.000,4,0.000,0.045,3603,3474,2374
$GC,13361,2.22,99.4,313.5,8.9,415,13365,0.00,2.33,0.00,0.000,6,0.000,0.035,3603,2042,2374
$GC,13680,2.22,104.3,289.3,7.2,423,13693,0.00,2.42,7.05,0.711,4,0.000,0.044,3603,3469,2349
$GC,13741,2.24,114.8,285.4,6.2,424,13756,0.00,2.33,10.48,0.755,6,0.000,0.035,3603,2049,2307
$GC,14088,2.29,119.9,260.1,7.1,433,14096,0.00,0.00,6.20,0.656,6,0.000,0.000,3603,2049,2286
$GC,14413,2.35,119.9,229.1,10.4,441,14418,0.12,2.33,0.00,0.000,4,0.208,0.036,3635,3469,2285
$GC,14581,2.35,119.9,211.6,9.2,444,14587,0.00,2.33,0.00,0.000,6,0.000,0.038,3635,2042,2285
$GC,14902,2.35,123.2,184.1,7.5,466,14913,0.00,2.38,4.78,0.540,4,0.000,0.037,3635,3477,2272
$GC,15167,2.36,129.7,164.6,6.9,489,15183,0.00,2.33,7.28,0.601,6,0.000,0.031,3635,2038,2245
$GC,15503,2.37,137.2,137.3,6.8,521,15517,0.00,2.40,8.10,0.588,4,0.000,0.041,3635,3473,2214
$GC,15732,2.42,145.5,120.0,6.6,541,15749,0.00,2.30,8.68,0.578,6,0.000,0.032,3635,2049,2181
$GC,16068,2.47,145.5,92.5,9.6,573,16070,0.10,0.00,0.00,0.000,6,0.071,0.000,3663,2049,2180
$GC,16389,2.48,150.0,65.0,7.2,603,16401,0.00,2.33,6.07,0.488,4,0.000,0.034,3663,3470,2162
$GC,16655,2.54,165.0,45.1,5.5,626,16675,0.00,2.28,14.05,0.542,6,0.000,0.031,3662,2048,2102
$GC,17000,2.61,173.4,26.1,6.6,663,17014,0.10,2.40,8.65,0.491,4,0.071,0.039,3691,3480,2068
$STATE,17249,end climb,SURFACE_DEPTH_REACHED
$STATE,17249,begin surface coast
$FINISH,0.8,1.022914
$STATE,17284,end surface coast,CONTROL_FINISHED_OK
$STATE,17284,begin surface
$SM_CCo,17311,119.30,0.530,0,0,1470,320.12
$SM_GC,0.76,0.00,0.00,119.30,0.000,0.000,0.530,466,1954,1470,-12.20,0.08,320.12
$IRIDIUM_FIX,2241.69,-15749.78,151097,131330
$TT8_MAMPS,0.026078
$HUMID,1598
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.90
$XPDR_PINGS,505
$24V_AH,23.4,57.913
$10V_AH,10.2,49.339
$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,30.575,142.850,209.275,119.300,0.000,23.548,41.282,138.498,126.250,0.000,0.000,15.583,1491.680,13093.931,463.465,2171.195,549.990,0.000,1524.271,0.000,2128.141,0.000,0.467
$DEVICE_MAMPS,207.857,114.283,1173.510,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.281,333.877,0.000,460.920,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50796,713
$CAP_FILE_SIZE,132344,0
$CFSIZE,260165632,235593728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210708,231902,2248.380,-15748.561,40,1.1,40,10.1