version: 66.03
glider: 146
mission: 2
dive: 517
start: 7 27 108 9 3 35
data:
$ID,146
$MISSION,2
$DIVE,517
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,166
$T_MISSION,200
$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,-16933.646
$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,30
$R_STBD_OVSHOOT,69
$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
$GPS1,085708,2248.875,-15748.681,36,0.8,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.8
$GPS2,090315,2248.894,-15748.728,10,1.3,10,10.1
$SPEED_LIMITS,0.115,0.321
$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,185.6,1721,-21.4,-8.032
$D_GRID,400
$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,26,-1.42,-70.1,0.0,0.0,0,77,0.00,0.00,-49.20,0.000,2,0.000,0.000,461,1972,2758
$GC,81,-1.46,-96.1,3.2,-6.0,9,111,13.00,2.45,-8.57,0.000,4,0.176,0.067,2795,559,3170
$GC,182,-1.15,-96.1,28.2,-23.0,26,189,0.35,2.12,0.00,0.000,6,0.123,0.020,2864,1945,3171
$GC,511,-1.06,-96.1,78.9,-13.4,57,515,0.12,2.38,0.00,0.000,4,0.106,0.055,2889,549,3173
$GC,579,-1.03,-96.1,87.4,-11.7,62,585,0.00,2.15,0.00,0.000,6,0.000,0.020,2889,1953,3174
$GC,904,-1.03,-96.1,125.5,-12.6,93,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1955,3175
$GC,1223,-1.06,-96.1,158.8,-8.7,123,1227,0.00,2.42,0.00,0.000,4,0.000,0.061,2889,546,3175
$GC,1308,-1.06,-96.1,166.9,-9.5,130,1312,0.00,2.17,0.00,0.000,6,0.000,0.021,2889,1959,3176
$GC,1637,-1.11,-96.1,193.8,-8.1,160,1641,0.00,2.42,0.00,0.000,4,0.000,0.069,2889,553,3176
$GC,1693,-1.15,-96.1,199.1,-9.4,164,1699,0.00,2.15,0.00,0.000,6,0.000,0.022,2889,1949,3176
$GC,2036,-1.21,-96.1,228.3,-8.4,174,2037,0.15,0.00,0.00,0.000,6,0.044,0.000,2832,1950,3177
$GC,2361,-1.18,-96.1,261.8,-9.8,182,2366,0.15,2.42,0.00,0.000,4,0.088,0.074,2868,553,3177
$GC,2439,-1.22,-96.1,268.7,-8.1,183,2445,0.00,2.17,0.00,0.000,6,0.000,0.025,2868,1945,3177
$GC,2772,-1.29,-103.9,293.8,-7.4,192,2776,0.12,2.42,0.00,0.000,4,0.051,0.068,2818,554,3177
$GC,2857,-1.24,-103.9,303.0,-11.3,194,2862,0.15,2.22,0.00,0.000,6,0.094,0.030,2848,1948,3177
$GC,3182,-1.27,-103.9,333.3,-9.4,202,3186,0.00,2.42,0.00,0.000,4,0.000,0.070,2848,549,3177
$GC,3238,-1.27,-103.9,338.8,-9.7,203,3242,0.00,2.25,0.00,0.000,6,0.000,0.033,2849,1947,3176
$GC,3552,-1.32,-103.9,366.3,-8.7,211,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1947,3175
$GC,3876,-1.37,-103.9,395.2,-9.0,219,3878,0.12,0.00,0.00,0.000,6,0.051,0.000,2802,1947,3173
$STATE,3954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3954,begin apogee
$GC,3962,-0.31,0.0,403.0,9.4,221,4047,1.10,0.00,81.80,0.829,6,0.076,0.000,3050,2062,2775
$STATE,4048,end apogee,CONTROL_FINISHED_OK
$STATE,4048,begin climb
$GC,4052,1.47,103.9,405.7,0.0,223,4147,1.62,2.40,86.45,0.815,4,0.044,0.055,3442,3444,2350
$GC,4254,1.47,103.9,393.7,9.0,227,4258,0.00,2.30,0.00,0.000,6,0.000,0.038,3442,2061,2347
$GC,4586,1.47,105.6,367.6,7.9,235,4590,0.00,2.30,0.00,0.000,4,0.000,0.038,3442,3455,2343
$GC,4608,1.47,107.8,365.7,7.9,235,4612,0.00,2.33,0.00,0.000,6,0.000,0.035,3442,2044,2343
$GC,4945,1.47,108.1,339.4,8.0,244,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2043,2340
$GC,5270,1.49,125.7,316.4,6.7,252,5289,0.00,0.00,17.73,0.759,6,0.000,0.000,3442,2044,2262
$GC,5595,1.50,132.5,292.9,7.5,260,5604,0.00,0.00,6.85,0.649,6,0.000,0.000,3442,2043,2232
$GC,5925,1.50,133.2,265.6,8.0,268,5929,0.00,2.42,0.00,0.000,4,0.000,0.067,3442,635,2230
$GC,6108,1.52,145.1,251.9,7.1,272,6124,0.00,2.28,11.35,0.697,6,0.000,0.025,3442,2069,2183
$GC,6433,1.57,161.2,230.7,6.8,280,6453,0.00,2.47,15.15,0.700,4,0.000,0.058,3442,643,2116
$GC,6610,1.57,161.2,215.7,8.4,284,6614,0.00,2.22,0.00,0.000,6,0.000,0.023,3443,2057,2112
$GC,6934,1.64,163.4,193.3,7.9,298,6939,0.15,2.40,0.00,0.000,4,0.058,0.061,3484,641,2111
$GC,7009,1.56,163.4,185.9,10.7,304,7014,0.12,2.22,0.00,0.000,6,0.117,0.031,3461,2059,2110
$GC,7335,1.61,172.7,159.7,7.3,334,7350,0.00,2.42,9.95,0.607,4,0.000,0.061,3460,640,2070
$GC,7378,1.61,172.7,156.2,8.5,337,7384,0.00,2.20,0.00,0.000,6,0.000,0.030,3460,2051,2069
$GC,7707,1.66,173.6,131.0,8.0,368,7711,0.00,2.40,0.00,0.000,4,0.000,0.061,3460,637,2068
$GC,7860,1.66,173.6,116.7,8.8,381,7864,0.00,2.22,0.00,0.000,6,0.000,0.027,3460,2058,2068
$GC,8190,1.73,173.6,89.2,9.0,411,8195,0.15,2.40,0.00,0.000,4,0.058,0.051,3507,636,2068
$GC,8212,1.73,173.6,86.4,10.1,412,8219,0.00,2.20,0.00,0.000,6,0.000,0.024,3507,2048,2068
$GC,8542,1.75,191.6,61.7,6.7,443,8565,0.00,2.47,17.50,0.554,4,0.000,0.056,3507,633,1993
$GC,8590,1.72,196.3,57.8,7.7,447,8602,0.00,2.25,5.85,0.450,6,0.000,0.024,3507,2060,1973
$GC,8921,1.73,211.9,33.5,6.8,478,8943,0.00,2.28,14.50,0.521,4,0.000,0.038,3507,3441,1911
$GC,8968,1.79,225.8,30.1,7.0,482,8986,0.00,2.28,13.32,0.507,6,0.000,0.038,3507,2036,1854
$STATE,9249,end climb,SURFACE_DEPTH_REACHED
$STATE,9249,begin surface coast
$FINISH,0.7,1.004584
$STATE,9279,end surface coast,CONTROL_FINISHED_OK
$STATE,9279,begin surface
$SM_CCo,9303,75.85,0.518,0,0,1470,320.12
$SM_GC,1.43,0.00,0.00,75.85,0.000,0.000,0.518,466,1939,1470,-12.21,-0.31,320.12
$IRIDIUM_FIX,2239.35,-15724.61,211097,040404
$TT8_MAMPS,0.026078
$HUMID,1655
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,23.90
$XPDR_PINGS,554
$24V_AH,23.6,60.725
$10V_AH,10.2,51.737
$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,29.525,79.000,280.450,75.850,0.000,22.416,28.114,178.021,138.500,0.000,0.000,12.124,1015.321,6567.945,425.862,1250.629,485.833,0.000,1055.261,0.000,1236.682,0.000,0.467
$DEVICE_MAMPS,176.410,73.632,829.127,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.856,318.581,445.453,473.981,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38324,536
$CAP_FILE_SIZE,82131,0
$CFSIZE,260165632,233865216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270708,114104,2248.810,-15748.894,6,99.0,25,10.1