version: 66.03
glider: 146
mission: 2
dive: 529
start: 7 28 108 16 21 5
data:
$ID,146
$MISSION,2
$DIVE,529
$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,-17200.229
$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,27
$R_STBD_OVSHOOT,50
$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
$GPS1,161508,2248.710,-15748.658,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.0
$GPS2,162044,2248.740,-15748.683,9,1.1,14,10.1
$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,191.5,1474,-25.3,-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,19,begin dive
$GC,23,-1.64,-51.2,0.0,0.0,0,74,0.00,0.00,-49.03,0.000,2,0.000,0.000,463,1949,2736
$GC,78,-1.66,-67.5,3.5,-6.3,9,103,12.68,2.42,-6.93,0.000,4,0.177,0.067,2750,545,3054
$GC,274,-1.38,-67.5,52.2,-23.6,35,279,0.35,2.17,0.00,0.000,6,0.129,0.019,2816,1968,3057
$GC,600,-1.34,-67.5,106.7,-12.9,65,603,0.00,2.15,0.00,0.000,4,0.000,0.030,2817,3332,3058
$GC,650,-1.34,-67.5,112.8,-12.2,69,657,0.00,2.20,0.00,0.000,6,0.000,0.027,2816,1941,3058
$GC,976,-1.34,-67.5,151.0,-12.3,100,980,0.00,2.22,0.00,0.000,4,0.000,0.028,2817,3341,3059
$GC,998,-1.34,-67.5,153.9,-12.2,101,1004,0.00,2.20,0.00,0.000,6,0.000,0.027,2817,1946,3059
$GC,1326,-1.34,-67.5,191.0,-11.6,132,1330,0.00,2.38,0.00,0.000,4,0.000,0.070,2816,557,3060
$GC,1382,-1.34,-67.5,198.5,-12.3,136,1388,0.00,2.15,0.00,0.000,6,0.000,0.022,2816,1959,3060
$GC,1724,-1.38,-67.5,235.8,-10.6,146,1728,0.00,2.17,0.00,0.000,4,0.000,0.031,2817,3337,3060
$GC,1787,-1.45,-67.5,242.3,-9.8,147,1791,0.00,2.20,0.00,0.000,6,0.000,0.026,2816,1942,3060
$GC,2130,-1.51,-67.5,276.5,-9.9,156,2134,0.10,2.40,0.00,0.000,4,0.059,0.068,2776,555,3061
$GC,2237,-1.46,-67.5,288.1,-11.6,158,2241,0.12,2.17,0.00,0.000,6,0.102,0.029,2801,1937,3061
$GC,2580,-1.50,-67.5,320.9,-8.7,167,2584,0.00,2.30,0.00,0.000,4,0.000,0.048,2800,3355,3061
$GC,2670,-1.59,-67.5,329.4,-9.8,169,2674,0.12,2.28,0.00,0.000,6,0.051,0.036,2752,1953,3061
$GC,2989,-1.55,-67.5,362.0,-10.5,177,2994,0.15,2.28,0.00,0.000,4,0.096,0.042,2783,3348,3060
$GC,3039,-1.59,-67.5,367.1,-9.3,178,3044,0.00,2.30,0.00,0.000,6,0.000,0.043,2783,1950,3060
$GC,3354,-1.63,-67.5,396.9,-9.6,186,3358,0.00,2.53,0.00,0.000,4,0.000,0.096,2783,542,3058
$GC,3370,-1.63,-67.5,398.6,-9.5,186,3374,0.00,2.25,0.00,0.000,6,0.000,0.036,2783,1936,3058
$STATE,3384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3384,begin apogee
$GC,3392,-0.31,0.0,400.2,10.2,187,3454,1.20,0.00,58.17,0.820,6,0.080,0.000,3053,2057,2775
$STATE,3454,end apogee,CONTROL_FINISHED_OK
$STATE,3454,begin climb
$GC,3458,1.66,67.5,402.1,0.0,188,3518,1.83,0.00,55.95,0.804,6,0.040,0.000,3493,2057,2499
$GC,3834,1.65,82.4,382.3,6.5,198,3853,0.00,2.55,13.00,0.748,4,0.000,0.066,3493,643,2438
$GC,3923,1.57,82.4,375.8,8.9,200,3927,0.15,2.28,0.00,0.000,6,0.120,0.030,3465,2049,2437
$GC,4248,1.58,90.5,352.2,7.2,208,4257,0.00,0.00,7.68,0.683,6,0.000,0.000,3465,2050,2406
$GC,4572,1.64,97.2,328.4,7.3,216,4586,0.00,2.35,6.80,0.663,4,0.000,0.039,3465,3455,2378
$GC,4638,1.70,99.2,323.2,7.8,217,4643,0.10,2.33,0.00,0.000,6,0.075,0.036,3492,2034,2377
$GC,4981,1.74,128.1,304.4,5.0,226,5012,0.00,2.35,26.27,0.775,4,0.000,0.035,3492,3454,2253
$GC,5141,1.78,132.3,293.6,7.6,229,5151,0.00,2.30,4.75,0.560,6,0.000,0.033,3492,2041,2235
$GC,5479,1.82,132.3,265.5,8.4,237,5483,0.10,2.38,0.00,0.000,4,0.246,0.059,3519,651,2232
$GC,5736,1.76,132.3,243.3,9.3,242,5742,0.00,2.22,0.00,0.000,6,0.000,0.026,3518,2069,2229
$GC,6069,1.76,132.3,215.8,8.3,251,6073,0.00,2.40,0.00,0.000,4,0.000,0.064,3519,650,2227
$GC,6109,1.71,132.3,212.0,9.7,252,6114,0.12,2.20,0.00,0.000,6,0.123,0.023,3495,2055,2227
$GC,6435,1.78,138.3,186.4,7.4,271,6446,0.00,2.25,5.35,0.539,4,0.000,0.038,3495,3455,2210
$GC,6516,1.86,149.8,180.3,6.8,278,6532,0.12,2.25,11.25,0.633,6,0.067,0.031,3528,2039,2163
$GC,6851,1.86,149.8,152.3,8.3,309,6855,0.00,2.33,0.00,0.000,4,0.000,0.055,3528,651,2161
$GC,6874,1.86,149.8,150.3,8.6,311,6878,0.00,2.17,0.00,0.000,6,0.000,0.022,3528,2060,2160
$GC,7208,1.86,149.8,122.2,8.8,342,7212,0.00,2.38,0.00,0.000,4,0.000,0.060,3529,643,2161
$GC,7311,1.83,149.8,112.1,10.4,351,7315,0.00,2.20,0.00,0.000,6,0.000,0.022,3528,2058,2160
$GC,7640,1.90,175.2,90.9,5.4,381,7668,0.00,2.30,22.52,0.586,4,0.000,0.041,3529,3445,2059
$GC,7720,1.97,183.9,85.2,7.1,388,7737,0.00,2.25,8.80,0.522,6,0.000,0.032,3529,2049,2023
$GC,8058,2.04,183.9,54.2,9.7,420,8065,0.15,0.00,0.00,0.000,6,0.056,0.000,3571,2049,2022
$GC,8390,2.06,199.3,25.4,6.4,457,8408,0.00,2.42,14.10,0.510,4,0.000,0.055,3571,647,1961
$GC,8484,2.00,199.3,16.2,10.4,473,8490,0.00,2.20,0.00,0.000,6,0.000,0.023,3571,2054,1959
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$FINISH,0.6,1.013641
$STATE,8645,end surface coast,CONTROL_FINISHED_OK
$STATE,8645,begin surface
$SM_CCo,8670,97.18,0.518,0,0,1470,320.12
$SM_GC,1.22,0.00,0.00,97.18,0.000,0.000,0.518,467,1939,1470,-12.20,-0.31,320.12
$IRIDIUM_FIX,2241.69,-15751.94,221097,131315
$TT8_MAMPS,0.026078
$HUMID,1711
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,23.50
$XPDR_PINGS,526
$24V_AH,23.7,61.915
$10V_AH,10.2,52.475
$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,29.750,87.225,234.650,97.175,0.000,24.005,28.317,161.413,131.500,0.000,0.000,15.605,975.588,6036.587,414.165,1225.112,461.579,0.000,1032.186,0.000,1208.141,0.000,0.804
$DEVICE_MAMPS,246.207,95.875,819.923,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.570,292.740,415.937,433.403,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38248,501
$CAP_FILE_SIZE,81965,0
$CFSIZE,260165632,233332736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280708,184823,2248.510,-15748.931,6,99.0,25,10.1