version: 66.03
glider: 146
mission: 2
dive: 507
start: 7 25 108 7 12 16
data:
$ID,146
$MISSION,2
$DIVE,507
$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,-16777.527
$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,35
$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
$GPS1,070226,2248.595,-15748.903,39,1.1,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.1
$GPS2,071151,2248.626,-15748.976,11,1.3,11,10.1
$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,172.0,1161,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.06,-31.9,0.0,0.0,0,75,0.00,0.00,-49.53,0.000,2,0.000,0.000,468,1932,2759
$GC,79,-2.07,-39.2,3.4,-6.8,9,104,12.20,2.35,-3.85,0.000,4,0.176,0.061,2664,553,2937
$GC,330,-1.87,-39.2,67.9,-22.9,40,335,0.25,2.17,0.00,0.000,6,0.140,0.021,2709,1964,2940
$GC,655,-1.87,-39.2,124.5,-15.7,70,659,0.00,2.40,0.00,0.000,4,0.000,0.057,2709,555,2942
$GC,677,-1.82,-39.2,128.2,-15.7,71,683,0.00,2.15,0.00,0.000,6,0.000,0.023,2709,1949,2942
$GC,1003,-1.82,-39.2,177.6,-13.7,102,1006,0.00,2.20,0.00,0.000,4,0.000,0.029,2709,3339,2943
$GC,1048,-1.86,-39.2,184.4,-14.2,105,1054,0.00,2.17,0.00,0.000,6,0.000,0.026,2709,1951,2943
$GC,1375,-1.90,-39.2,226.4,-12.7,122,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1952,2944
$GC,1700,-1.95,-39.2,264.0,-11.1,130,1703,0.00,2.22,0.00,0.000,4,0.000,0.030,2709,3346,2943
$GC,1741,-2.02,-39.2,268.4,-10.8,131,1746,0.12,2.22,0.00,0.000,6,0.053,0.029,2663,1959,2944
$GC,2065,-2.02,-39.2,308.6,-11.9,139,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1958,2944
$GC,2390,-2.02,-39.2,344.5,-11.0,147,2394,0.00,2.25,0.00,0.000,4,0.000,0.041,2663,3332,2944
$GC,2475,-2.02,-39.2,355.1,-12.6,149,2479,0.00,2.28,0.00,0.000,6,0.000,0.043,2663,1958,2944
$GC,2799,-2.02,-39.2,392.9,-12.0,157,2803,0.00,2.25,0.00,0.000,4,0.000,0.045,2663,3327,2943
$GC,2889,-2.02,-39.2,403.5,-12.1,159,2893,0.00,2.30,0.00,0.000,6,0.000,0.046,2663,1952,2943
$GC,3214,-2.02,-39.2,436.7,-10.0,167,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1952,2941
$GC,3539,-2.02,-39.2,468.6,-9.8,175,3543,0.00,2.33,0.00,0.000,4,0.000,0.056,2663,3323,2938
$GC,3572,-2.02,-39.2,472.1,-10.1,175,3578,0.00,2.33,0.00,0.000,6,0.000,0.052,2663,1947,2938
$GC,3904,-2.02,-39.2,504.7,-10.2,184,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1947,2937
$GC,4229,-2.05,-39.2,538.4,-10.4,192,4233,0.00,2.38,0.00,0.000,4,0.000,0.076,2663,3318,2934
$GC,4341,-2.10,-39.2,549.5,-9.7,194,4345,0.00,2.35,0.00,0.000,6,0.000,0.062,2663,1953,2933
$GC,4679,-2.14,-39.2,579.2,-9.0,203,4683,0.00,2.72,0.00,0.000,4,0.000,0.126,2663,540,2932
$GC,4712,-2.14,-39.2,582.7,-10.6,203,4718,0.00,2.33,0.00,0.000,6,0.000,0.064,2663,1910,2931
$GC,5044,-2.19,-39.2,613.1,-9.2,212,5048,0.00,2.60,0.00,0.000,4,0.000,0.098,2663,3355,2928
$GC,5084,-2.24,-39.2,617.0,-9.5,213,5089,0.12,2.47,0.00,0.000,6,0.059,0.077,2624,1947,2928
$GC,5409,-2.24,-39.2,648.2,-9.6,221,5413,0.00,2.53,0.00,0.000,4,0.000,0.087,2624,3361,2926
$GC,5644,-2.24,-39.2,671.0,-9.1,226,5648,0.00,2.58,0.00,0.000,6,0.000,0.094,2624,1949,2925
$GC,5992,-2.24,-39.2,703.9,-9.7,235,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1950,2922
$GC,6316,-2.24,-39.2,735.8,-9.6,243,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1947,2921
$GC,6641,-2.24,-39.2,763.6,-8.2,251,6646,0.00,2.47,0.00,0.000,4,0.000,0.079,2624,3356,2919
$GC,6692,-2.24,-42.5,767.5,-7.5,252,6697,0.00,2.45,0.00,0.000,6,0.000,0.071,2624,1943,2918
$GC,7006,-2.24,-44.6,790.6,-7.6,260,7010,0.00,2.45,0.00,0.000,4,0.000,0.069,2624,3357,2917
$GC,7084,-2.24,-45.0,796.8,-8.0,261,7090,0.00,2.45,0.00,0.000,6,0.000,0.064,2624,1942,2916
$STATE,7128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7128,begin apogee
$GC,7137,-0.31,0.0,800.3,7.8,263,7173,2.03,0.00,32.53,1.169,6,0.114,0.000,3046,2067,2775
$STATE,7174,end apogee,CONTROL_FINISHED_OK
$STATE,7174,begin climb
$GC,7177,2.07,45.0,801.2,0.0,264,7227,2.20,2.75,40.92,1.154,4,0.046,0.105,3582,637,2591
$GC,7234,2.03,51.5,798.2,6.9,265,7248,0.00,2.40,7.72,0.956,6,0.000,0.054,3582,2042,2563
$GC,7588,2.03,51.5,765.3,9.2,274,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2042,2560
$GC,7912,2.03,52.3,737.5,7.9,282,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2042,2559
$GC,8237,2.03,53.0,711.7,7.9,290,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2043,2557
$GC,8562,2.03,53.0,686.1,8.1,298,8566,0.00,2.47,0.00,0.000,4,0.000,0.069,3582,3467,2555
$GC,8578,2.03,53.0,684.7,8.3,298,8583,0.00,2.42,0.00,0.000,6,0.000,0.049,3582,2042,2555
$GC,8921,2.04,59.1,659.4,7.0,307,8934,0.00,2.42,6.50,0.904,4,0.000,0.053,3582,3462,2532
$GC,9004,2.04,59.1,652.9,8.6,308,9010,0.00,2.42,0.00,0.000,6,0.000,0.052,3582,2049,2532
$GC,9336,2.04,61.6,627.7,7.6,317,9340,0.00,2.40,0.00,0.000,4,0.000,0.054,3582,3462,2531
$GC,9523,2.04,61.6,612.5,8.8,321,9527,0.00,2.40,0.00,0.000,6,0.000,0.051,3582,2049,2531
$GC,9836,2.04,63.4,587.3,7.7,329,9845,0.00,2.40,4.93,0.785,4,0.000,0.050,3582,3459,2516
$GC,10037,2.04,63.4,570.2,8.9,333,10041,0.00,2.40,0.00,0.000,6,0.000,0.056,3582,2049,2515
$GC,10379,2.05,68.3,544.9,7.2,342,10390,0.00,2.65,5.90,0.830,4,0.000,0.104,3582,636,2495
$GC,10431,1.98,74.5,541.2,7.0,343,10445,0.15,2.35,6.93,0.861,6,0.140,0.037,3556,2057,2470
$GC,10789,2.04,75.6,514.3,7.8,352,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2057,2469
$GC,11114,2.09,76.6,489.0,7.8,360,11118,0.00,2.40,0.00,0.000,4,0.000,0.064,3556,3458,2469
$GC,11323,2.15,78.9,471.5,7.6,364,11335,0.15,2.38,5.32,0.761,6,0.074,0.049,3590,2038,2453
$GC,11660,2.16,85.4,446.9,6.9,373,11674,0.00,2.45,7.28,0.834,4,0.000,0.041,3590,3463,2426
$GC,11776,2.17,90.0,438.4,7.2,375,11787,0.00,2.38,5.57,0.753,6,0.000,0.047,3589,2043,2408
$GC,12113,2.17,90.0,412.6,8.1,383,12117,0.00,2.35,0.00,0.000,4,0.000,0.047,3590,3464,2407
$GC,12295,2.17,90.0,397.0,8.6,387,12299,0.00,2.35,0.00,0.000,6,0.000,0.044,3590,2043,2407
$GC,12614,2.17,90.3,371.3,8.0,395,12618,0.00,2.33,0.00,0.000,4,0.000,0.041,3590,3464,2407
$GC,12648,2.17,93.7,368.6,7.4,395,12659,0.00,2.33,4.88,0.678,6,0.000,0.043,3590,2051,2392
$GC,12985,2.20,93.7,342.0,8.2,404,12989,0.00,2.42,0.00,0.000,4,0.000,0.069,3590,640,2392
$GC,13018,2.16,93.7,339.0,8.8,404,13024,0.00,2.28,0.00,0.000,6,0.000,0.035,3590,2068,2391
$GC,13351,2.21,109.4,319.0,5.4,413,13370,0.00,0.00,15.45,0.823,6,0.000,0.000,3590,2068,2327
$GC,13680,2.26,109.4,291.8,9.2,421,13684,0.00,2.28,0.00,0.000,4,0.000,0.045,3590,3459,2325
$GC,13765,2.32,109.4,284.2,8.9,423,13770,0.15,2.30,0.00,0.000,6,0.066,0.037,3627,2043,2325
$GC,14090,2.32,113.9,259.6,7.3,431,14100,0.00,2.33,5.15,0.614,4,0.000,0.044,3627,3450,2309
$GC,14207,2.32,115.7,250.4,7.7,433,14211,0.00,2.30,0.00,0.000,6,0.000,0.035,3627,2045,2308
$GC,14539,2.32,115.7,222.8,8.2,441,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2045,2308
$GC,14864,2.34,129.7,201.6,5.7,449,14883,0.00,0.00,14.95,0.702,6,0.000,0.000,3627,2045,2246
$GC,15207,2.38,129.7,168.8,10.1,478,15211,0.00,2.30,0.00,0.000,4,0.000,0.042,3627,3452,2244
$GC,15270,2.42,129.7,163.4,8.4,483,15274,0.00,2.25,0.00,0.000,6,0.000,0.032,3627,2048,2244
$GC,15602,2.49,145.8,140.5,5.3,514,15624,0.15,2.33,15.20,0.639,4,0.061,0.041,3671,3453,2180
$GC,15631,2.50,158.5,138.8,5.9,516,15649,0.00,2.28,12.90,0.616,6,0.000,0.032,3671,2049,2128
$GC,15967,2.50,158.5,101.7,11.7,548,15971,0.00,2.38,0.00,0.000,4,0.000,0.055,3671,646,2125
$GC,15996,2.44,158.5,98.1,13.0,550,16000,0.00,2.22,0.00,0.000,6,0.000,0.024,3671,2058,2123
$GC,16322,2.44,158.5,59.2,9.8,580,16326,0.00,2.25,0.00,0.000,4,0.000,0.035,3671,3453,2124
$GC,16374,2.44,158.5,54.3,9.3,584,16378,0.00,2.28,0.00,0.000,6,0.000,0.034,3671,2039,2125
$GC,16703,2.50,182.5,31.7,4.0,614,16729,0.00,2.35,21.35,0.548,4,0.000,0.051,3671,648,2031
$GC,16907,2.47,182.5,12.1,12.7,646,16913,0.00,2.20,0.00,0.000,6,0.000,0.025,3671,2050,2028
$STATE,16997,end climb,SURFACE_DEPTH_REACHED
$STATE,16997,begin surface coast
$FINISH,0.8,1.013823
$STATE,17025,end surface coast,CONTROL_FINISHED_OK
$STATE,17025,begin surface
$SM_CCo,17051,112.00,0.532,0,0,1470,320.12
$SM_GC,0.79,0.00,0.00,112.00,0.000,0.000,0.532,463,1927,1470,-12.22,-0.68,320.12
$IRIDIUM_FIX,2239.35,-15751.94,191097,070729
$TT8_MAMPS,0.026078
$HUMID,1628
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,23.60
$XPDR_PINGS,445
$24V_AH,23.3,59.710
$10V_AH,10.2,50.874
$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,30.500,146.950,213.475,112.000,0.000,61.995,131.079,171.394,111.250,0.000,0.000,13.186,1375.531,13385.206,445.071,1799.080,727.079,0.000,1376.956,0.000,1766.555,0.000,0.467
$DEVICE_MAMPS,176.410,156.468,1168.908,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,457.765,293.702,409.037,392.108,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47736,667
$CAP_FILE_SIZE,127869,0
$CFSIZE,260165632,234471424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,250708,115938,2248.458,-15749.001,36,1.0,36,10.1