version: 66.03
glider: 146
mission: 2
dive: 510
start: 7 25 108 21 59 8
data:
$ID,146
$MISSION,2
$DIVE,510
$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,-16817.963
$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,56
$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
$GPS1,215231,2248.573,-15749.830,36,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.5
$GPS2,215845,2248.655,-15749.835,14,1.2,14,10.1
$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,120.3,1872,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.06,-31.9,0.0,0.0,0,79,0.00,0.00,-51.70,0.000,2,0.000,0.000,465,1960,2817
$GC,83,-2.08,-53.5,3.0,-4.4,7,107,12.23,2.42,-3.80,0.000,4,0.178,0.067,2658,560,2994
$GC,134,-1.64,-53.5,17.6,-29.0,14,141,0.45,2.20,0.00,0.000,6,0.134,0.021,2757,1954,2996
$GC,465,-1.68,-53.5,79.3,-15.8,49,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1954,2998
$GC,791,-1.76,-53.5,130.5,-13.9,80,795,0.00,2.20,0.00,0.000,4,0.000,0.031,2757,3337,2999
$GC,813,-1.84,-53.5,134.0,-14.5,81,820,0.17,2.22,0.00,0.000,6,0.042,0.035,2699,1940,3000
$GC,1142,-1.84,-53.5,187.4,-16.4,112,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1939,3000
$GC,1466,-1.84,-53.5,236.5,-14.5,126,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1939,3001
$GC,1792,-1.88,-53.5,279.5,-13.1,134,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1939,3002
$GC,2117,-1.94,-53.5,317.9,-11.3,142,2121,0.00,2.30,0.00,0.000,4,0.000,0.041,2699,3338,3002
$GC,2209,-2.02,-53.5,326.7,-9.8,144,2213,0.00,2.28,0.00,0.000,6,0.000,0.041,2699,1959,3002
$GC,2528,-2.08,-53.5,360.8,-11.1,152,2532,0.15,2.28,0.00,0.000,4,0.048,0.043,2642,3336,3002
$GC,2572,-2.08,-53.5,366.7,-12.7,153,2577,0.12,2.33,0.00,0.000,6,0.115,0.048,2665,1947,3002
$GC,2891,-2.08,-53.5,401.9,-10.6,161,2895,0.00,2.30,0.00,0.000,4,0.000,0.048,2665,3332,3000
$GC,2976,-2.08,-53.5,411.3,-11.9,163,2980,0.00,2.35,0.00,0.000,6,0.000,0.053,2666,1944,3000
$GC,3301,-2.11,-53.5,446.3,-10.8,171,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1944,2998
$GC,3626,-2.15,-53.5,484.8,-12.3,179,3630,0.00,2.38,0.00,0.000,4,0.000,0.063,2666,3324,2996
$GC,3822,-2.19,-53.5,510.6,-12.5,183,3826,0.00,2.35,0.00,0.000,6,0.000,0.061,2665,1948,2995
$GC,4171,-2.23,-53.5,547.9,-10.1,192,4176,0.15,2.38,0.00,0.000,4,0.172,0.064,2618,3323,2993
$GC,4250,-2.20,-53.5,556.6,-11.2,193,4256,0.10,2.38,0.00,0.000,6,0.129,0.064,2636,1950,2992
$GC,4581,-2.20,-53.5,595.0,-11.9,202,4585,0.00,2.40,0.00,0.000,4,0.000,0.078,2636,3318,2990
$GC,4788,-2.20,-53.5,617.9,-10.4,206,4792,0.00,2.45,0.00,0.000,6,0.000,0.082,2636,1945,2988
$GC,5119,-2.20,-53.5,649.7,-9.5,214,5123,0.00,2.47,0.00,0.000,4,0.000,0.095,2636,3320,2986
$GC,5152,-2.20,-53.5,652.9,-9.4,214,5159,0.00,2.50,0.00,0.000,6,0.000,0.093,2636,1949,2986
$GC,5484,-2.20,-53.5,682.8,-9.0,223,5488,0.00,2.53,0.00,0.000,4,0.000,0.101,2636,3316,2983
$GC,5562,-2.20,-53.5,690.2,-9.4,224,5568,0.00,2.42,0.00,0.000,6,0.000,0.079,2636,1948,2982
$GC,5893,-2.20,-53.5,720.7,-9.1,233,5898,0.00,2.40,0.00,0.000,4,0.000,0.074,2636,3319,2980
$GC,5967,-2.20,-53.5,727.6,-9.6,234,5971,0.00,2.42,0.00,0.000,6,0.000,0.079,2636,1942,2980
$GC,6298,-2.20,-53.5,759.3,-9.7,242,6302,0.00,2.40,0.00,0.000,4,0.000,0.077,2636,3322,2977
$GC,6332,-2.20,-53.5,762.8,-10.3,242,6338,0.00,2.40,0.00,0.000,6,0.000,0.071,2636,1950,2977
$GC,6664,-2.20,-53.5,794.2,-9.4,251,6668,0.00,2.38,0.00,0.000,4,0.000,0.076,2636,3319,2975
$STATE,6722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6722,begin apogee
$GC,6731,-0.31,0.0,800.3,9.7,252,6781,1.95,0.00,45.03,1.177,6,0.115,0.000,3053,2049,2775
$STATE,6781,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6785,2.08,53.5,801.6,0.0,253,6841,2.17,2.75,48.08,1.154,4,0.049,0.117,3584,633,2555
$GC,6901,1.98,53.5,793.9,10.8,255,6906,0.17,2.35,0.00,0.000,6,0.135,0.056,3553,2012,2554
$GC,7232,1.98,53.5,763.4,9.2,263,7237,0.00,2.55,0.00,0.000,4,0.000,0.079,3553,3466,2551
$GC,7351,1.98,53.5,751.9,9.5,265,7355,0.00,2.45,0.00,0.000,6,0.000,0.061,3553,2044,2550
$GC,7682,1.98,53.5,720.0,9.7,273,7686,0.00,2.42,0.00,0.000,4,0.000,0.054,3553,3460,2549
$GC,7806,1.98,53.5,708.0,9.9,275,7812,0.00,2.42,0.00,0.000,6,0.000,0.057,3553,2048,2549
$GC,8138,2.01,53.5,679.7,8.1,284,8142,0.00,2.42,0.00,0.000,4,0.000,0.061,3553,3462,2548
$GC,8320,2.01,56.1,665.3,7.6,288,8324,0.00,2.42,0.00,0.000,6,0.000,0.063,3553,2051,2547
$GC,8638,2.02,66.6,644.0,6.2,296,8654,0.00,2.42,10.82,1.002,4,0.000,0.058,3553,3459,2503
$GC,8683,2.07,73.8,641.1,6.8,297,8697,0.00,2.45,7.85,0.927,6,0.000,0.061,3553,2045,2473
$GC,9006,2.12,73.8,614.8,8.5,305,9011,0.12,2.42,0.00,0.000,4,0.200,0.051,3582,3467,2472
$GC,9051,2.12,73.8,610.5,9.4,306,9055,0.00,2.45,0.00,0.000,6,0.000,0.055,3582,2042,2472
$GC,9370,2.12,73.8,582.5,9.2,314,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2042,2471
$GC,9695,2.12,73.8,550.9,10.0,322,9699,0.00,2.40,0.00,0.000,4,0.000,0.051,3582,3462,2470
$GC,9952,2.12,73.8,525.1,10.0,327,9958,0.00,2.40,0.00,0.000,6,0.000,0.057,3582,2050,2469
$GC,10284,2.13,82.7,500.5,6.5,336,10298,0.00,2.42,8.62,0.894,4,0.000,0.054,3582,3454,2436
$GC,10443,2.14,94.6,490.4,6.0,339,10464,0.00,2.40,11.93,0.928,6,0.000,0.054,3582,2042,2389
$GC,10789,2.14,94.6,460.0,9.7,348,10794,0.00,2.38,0.00,0.000,4,0.000,0.050,3582,3467,2386
$GC,10875,2.14,94.6,451.4,11.0,350,10879,0.00,2.38,0.00,0.000,6,0.000,0.047,3582,2048,2386
$GC,11199,2.14,94.6,419.5,9.2,358,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2048,2386
$GC,11524,2.18,94.6,390.5,9.3,366,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2047,2385
$GC,11849,2.22,94.6,363.4,8.2,374,11853,0.00,2.35,0.00,0.000,4,0.000,0.047,3582,3475,2385
$GC,11900,2.26,95.6,359.5,7.8,375,11905,0.12,2.38,0.00,0.000,6,0.075,0.040,3612,2039,2385
$GC,12213,2.26,99.4,335.5,7.4,383,12223,0.00,2.42,5.25,0.679,4,0.000,0.072,3612,644,2369
$GC,12280,2.19,100.0,330.2,7.9,384,12284,0.00,2.28,0.00,0.000,6,0.000,0.033,3612,2074,2369
$GC,12624,2.20,107.5,305.9,6.8,393,12638,0.00,2.30,8.85,0.761,4,0.000,0.040,3612,3448,2336
$GC,12662,2.20,108.9,302.8,7.8,393,12668,0.00,2.33,0.00,0.000,6,0.000,0.042,3612,2041,2335
$GC,12993,2.20,109.9,276.2,7.8,402,12997,0.00,2.33,0.00,0.000,4,0.000,0.041,3612,3452,2335
$GC,13224,2.22,126.3,259.9,5.3,407,13248,0.00,2.30,17.70,0.770,6,0.000,0.036,3612,2047,2259
$GC,13581,2.26,126.3,230.4,9.2,416,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2047,2256
$GC,13906,2.31,126.3,203.3,8.2,424,13910,0.00,2.30,0.00,0.000,4,0.000,0.040,3612,3448,2256
$GC,14131,2.37,126.3,185.9,8.1,438,14140,0.05,2.30,0.00,0.000,6,0.067,0.036,3635,2053,2256
$GC,14458,2.37,126.3,158.7,9.2,469,14462,0.00,2.38,0.00,0.000,4,0.000,0.066,3634,650,2256
$GC,14489,2.37,126.3,155.6,9.4,471,14493,0.00,2.22,0.00,0.000,6,0.000,0.025,3634,2061,2256
$GC,14819,2.42,133.2,129.6,6.9,501,14831,0.00,2.47,7.15,0.561,4,0.000,0.061,3634,646,2232
$GC,14926,2.38,133.2,119.8,9.1,510,14934,0.00,2.22,0.00,0.000,6,0.000,0.025,3634,2044,2232
$GC,15258,2.45,142.2,96.5,6.5,541,15273,0.00,2.30,9.90,0.565,4,0.000,0.042,3634,3450,2194
$GC,15289,2.51,149.0,94.2,6.9,543,15303,0.12,2.25,7.50,0.527,6,0.064,0.035,3667,2048,2166
$GC,15632,2.51,149.0,61.9,9.7,575,15636,0.00,2.38,0.00,0.000,4,0.000,0.054,3667,641,2165
$GC,15664,2.47,149.0,59.4,8.2,577,15668,0.00,2.20,0.00,0.000,6,0.000,0.031,3667,2053,2165
$GC,16001,2.54,174.3,42.6,3.8,608,16028,0.00,2.33,22.92,0.555,4,0.000,0.038,3667,3447,2063
$GC,16077,2.60,174.3,37.7,8.0,614,16082,0.00,2.28,0.00,0.000,6,0.000,0.041,3667,2048,2062
$GC,16414,2.67,174.3,7.7,9.7,665,16422,0.15,2.28,0.00,0.000,4,0.060,0.031,3713,3448,2061
$STATE,16455,end climb,SURFACE_DEPTH_REACHED
$STATE,16455,begin surface coast
$FINISH,0.6,1.023031
$STATE,16484,end surface coast,CONTROL_FINISHED_OK
$STATE,16484,begin surface
$SM_CCo,16512,118.28,0.528,0,0,1469,320.12
$SM_GC,0.80,0.00,0.00,118.28,0.000,0.000,0.528,464,1943,1469,-12.22,-0.23,320.12
$IRIDIUM_FIX,2241.69,-15749.78,191097,171733
$TT8_MAMPS,0.026078
$HUMID,1628
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.60
$XPDR_PINGS,511
$24V_AH,23.3,60.012
$10V_AH,10.2,51.148
$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,31.250,156.300,211.600,118.275,0.000,23.857,25.433,181.476,127.750,0.000,0.000,15.660,1410.162,12157.176,449.496,2382.459,607.532,0.000,1442.003,0.000,2357.143,0.000,0.466
$DEVICE_MAMPS,200.187,116.584,1177.345,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,463.909,323.702,442.984,440.277,926.916,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50855,677
$CAP_FILE_SIZE,128723,0
$CFSIZE,260165632,234270720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260708,023738,2249.256,-15748.660,36,0.8,36,10.1