version: 66.03
glider: 146
mission: 2
dive: 522
start: 7 27 108 22 17 3
data:
$ID,146
$MISSION,2
$DIVE,522
$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,-17041.812
$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,32
$R_STBD_OVSHOOT,58
$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
$GPS1,221107,2248.775,-15749.019,33,0.8,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.3
$GPS2,221644,2248.867,-15749.046,10,1.0,15,10.1
$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,167.1,1608,-23.1,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.52,-60.9,0.0,0.0,0,69,0.00,0.00,-43.47,0.000,2,0.000,0.000,468,1963,2572
$GC,73,-1.55,-91.1,3.1,-5.4,8,108,12.75,2.42,-14.27,0.000,4,0.176,0.071,2773,554,3149
$GC,167,-1.25,-91.1,21.0,-22.8,24,174,0.35,2.15,0.00,0.000,6,0.122,0.021,2842,1951,3151
$GC,496,-1.16,-91.1,77.4,-16.0,58,501,0.12,2.38,0.00,0.000,4,0.112,0.055,2867,551,3152
$GC,515,-1.07,-91.1,80.3,-16.5,59,519,0.00,2.15,0.00,0.000,6,0.000,0.019,2867,1966,3152
$GC,843,-1.07,-91.1,124.6,-12.6,89,848,0.00,2.42,0.00,0.000,4,0.000,0.068,2867,548,3153
$GC,906,-1.07,-91.1,133.3,-13.9,94,910,0.00,2.15,0.00,0.000,6,0.000,0.021,2867,1952,3154
$GC,1235,-1.07,-91.1,171.2,-10.7,124,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1953,3154
$GC,1569,-1.13,-91.1,204.4,-9.5,153,1573,0.00,2.40,0.00,0.000,4,0.000,0.064,2867,556,3155
$GC,1615,-1.17,-91.1,209.3,-10.6,154,1619,0.00,2.15,0.00,0.000,6,0.000,0.023,2867,1961,3155
$GC,1934,-1.24,-91.1,240.1,-9.8,162,1939,0.00,2.42,0.00,0.000,4,0.000,0.072,2867,553,3155
$GC,2030,-1.29,-91.1,251.1,-11.4,164,2035,0.12,2.15,0.00,0.000,6,0.051,0.025,2816,1941,3155
$GC,2343,-1.29,-91.1,288.9,-11.7,172,2348,0.10,2.22,0.00,0.000,4,0.102,0.041,2837,3340,3155
$GC,2429,-1.35,-91.1,298.2,-10.6,174,2433,0.00,2.22,0.00,0.000,6,0.000,0.032,2836,1957,3155
$GC,2754,-1.40,-91.1,329.2,-9.2,182,2758,0.00,2.47,0.00,0.000,4,0.000,0.081,2836,550,3155
$GC,2804,-1.40,-91.1,334.2,-10.4,183,2808,0.00,2.20,0.00,0.000,6,0.000,0.033,2837,1930,3155
$GC,3117,-1.47,-91.1,362.2,-9.0,191,3122,0.15,2.42,0.00,0.000,4,0.048,0.081,2777,545,3155
$GC,3145,-1.40,-91.1,365.3,-10.9,191,3150,0.17,2.28,0.00,0.000,6,0.098,0.037,2813,1956,3154
$GC,3478,-1.44,-91.1,393.1,-8.4,199,3482,0.00,2.47,0.00,0.000,4,0.000,0.082,2812,550,3153
$STATE,3547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3547,begin apogee
$GC,3557,-0.31,0.0,400.3,10.2,200,3638,1.02,0.00,76.68,0.818,6,0.080,0.000,3047,2050,2775
$STATE,3638,end apogee,CONTROL_FINISHED_OK
$STATE,3638,begin climb
$GC,3642,1.55,91.1,402.6,0.0,202,3729,1.70,2.45,75.25,0.802,4,0.041,0.051,3461,3461,2402
$GC,3783,1.52,91.9,397.0,8.0,206,3787,0.00,2.33,0.00,0.000,6,0.000,0.040,3461,2054,2401
$GC,4108,1.53,97.7,372.3,7.5,214,4119,0.00,2.50,6.30,0.637,4,0.000,0.075,3461,643,2376
$GC,4374,1.47,109.6,351.6,7.0,220,4389,0.00,2.28,11.02,0.724,6,0.000,0.028,3461,2069,2329
$GC,4698,1.48,112.0,327.5,7.8,228,4702,0.00,2.45,0.00,0.000,4,0.000,0.062,3461,643,2324
$GC,4721,1.49,123.2,325.8,7.0,228,4740,0.00,2.22,12.57,0.731,6,0.000,0.026,3461,2054,2272
$GC,5066,1.52,123.8,299.9,8.0,237,5070,0.00,2.42,0.00,0.000,4,0.000,0.067,3461,643,2268
$GC,5129,1.50,129.8,294.7,7.5,238,5140,0.00,2.22,6.38,0.630,6,0.000,0.025,3461,2054,2244
$GC,5478,1.55,141.4,270.2,7.0,247,5493,0.00,2.25,10.52,0.695,4,0.000,0.043,3461,3448,2199
$GC,5674,1.61,143.7,254.6,7.8,251,5678,0.00,2.28,0.00,0.000,6,0.000,0.033,3461,2042,2196
$GC,6017,1.68,147.5,229.6,7.7,260,6028,0.10,2.38,6.18,0.589,4,0.134,0.061,3489,647,2173
$GC,6282,1.63,147.5,203.1,9.3,266,6287,0.00,2.20,0.00,0.000,6,0.000,0.025,3489,2056,2171
$GC,6609,1.63,147.5,176.8,8.6,294,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2058,2171
$GC,6929,1.63,147.5,149.3,8.4,324,6932,0.00,2.22,0.00,0.000,4,0.000,0.041,3489,3451,2171
$GC,6947,1.67,147.5,147.8,8.8,325,6951,0.00,2.22,0.00,0.000,6,0.000,0.032,3489,2048,2170
$GC,7282,1.71,153.3,121.1,7.5,356,7290,0.00,0.00,6.12,0.512,6,0.000,0.000,3489,2048,2150
$GC,7611,1.76,155.2,94.9,7.9,387,7615,0.00,2.35,0.00,0.000,4,0.000,0.060,3489,648,2149
$GC,7735,1.77,161.9,85.1,7.4,397,7752,0.00,2.17,9.05,0.530,6,0.000,0.023,3489,2055,2114
$GC,8071,1.87,180.6,60.8,6.4,429,8095,0.15,2.45,17.15,0.547,4,0.054,0.054,3536,648,2037
$GC,8310,1.81,180.6,37.3,10.1,450,8314,0.00,2.20,0.00,0.000,6,0.000,0.024,3536,2052,2035
$GC,8650,1.81,180.6,11.2,8.6,502,8656,0.00,2.22,0.00,0.000,4,0.000,0.035,3536,3455,2035
$GC,8720,1.85,180.6,5.0,8.9,514,8727,0.00,2.28,0.00,0.000,6,0.000,0.032,3536,2049,2035
$STATE,8742,end climb,SURFACE_DEPTH_REACHED
$STATE,8742,begin surface coast
$FINISH,0.9,1.023040
$STATE,8777,end surface coast,CONTROL_FINISHED_OK
$STATE,8777,begin surface
$SM_CCo,8802,112.00,0.521,0,0,1470,320.12
$SM_GC,1.18,0.00,0.00,112.00,0.000,0.000,0.521,462,1935,1470,-12.22,-0.40,320.12
$IRIDIUM_FIX,2239.35,-15752.82,211097,191933
$TT8_MAMPS,0.026078
$HUMID,1676
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,23.70
$XPDR_PINGS,587
$24V_AH,23.7,61.187
$10V_AH,10.3,52.045
$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,29.050,87.850,237.225,112.000,0.000,30.423,29.905,150.067,146.750,0.000,0.000,16.628,1025.608,5968.969,439.215,1363.744,459.171,0.000,1103.194,0.000,1341.312,0.000,0.467
$DEVICE_MAMPS,175.643,82.069,818.389,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.436,310.261,441.395,476.388,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38176,524
$CAP_FILE_SIZE,84621,0
$CFSIZE,260165632,233639936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280708,004632,2249.147,-15748.897,6,2.0,11,10.1