version: 66.03
glider: 146
mission: 2
dive: 542
start: 7 30 108 11 7 51
data:
$ID,146
$MISSION,2
$DIVE,542
$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,-17467.492
$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,42
$R_STBD_OVSHOOT,57
$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
$GPS1,105808,2248.796,-15748.043,26,1.2,26,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.2
$GPS2,110727,2248.870,-15748.075,15,1.2,15,10.1
$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,214.3,2256,-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,-31.9,0.0,0.0,0,80,0.00,0.00,-53.83,0.000,6,0.000,0.000,461,1924,2906
$GC,84,-2.07,-45.0,3.6,-5.8,10,104,12.20,2.28,-1.08,0.000,4,0.176,0.058,2659,559,2961
$GC,337,-1.89,-45.0,73.8,-22.8,39,341,0.22,2.15,0.00,0.000,6,0.134,0.021,2702,1952,2963
$GC,663,-1.86,-45.0,133.2,-17.3,69,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1953,2965
$GC,980,-1.86,-45.0,181.0,-13.6,99,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1953,2966
$GC,1292,-1.86,-45.0,223.7,-13.8,117,1296,0.00,2.20,0.00,0.000,4,0.000,0.031,2702,3336,2966
$GC,1399,-1.91,-45.0,238.8,-14.2,119,1403,0.00,2.20,0.00,0.000,6,0.000,0.029,2702,1957,2966
$GC,1747,-1.96,-45.0,277.2,-10.7,128,1751,0.00,2.47,0.00,0.000,4,0.000,0.078,2701,546,2967
$GC,1843,-1.96,-45.0,288.1,-11.9,130,1847,0.00,2.20,0.00,0.000,6,0.000,0.028,2702,1938,2968
$GC,2163,-2.02,-45.0,324.9,-12.1,138,2167,0.00,2.30,0.00,0.000,4,0.000,0.044,2702,3345,2968
$GC,2293,-2.10,-45.0,341.8,-12.3,140,2299,0.17,2.30,0.00,0.000,6,0.047,0.041,2646,1950,2967
$GC,2624,-2.10,-45.0,385.6,-13.3,149,2628,0.00,2.30,0.00,0.000,4,0.000,0.043,2646,3347,2966
$GC,2866,-2.10,-45.0,415.8,-12.5,154,2870,0.00,2.35,0.00,0.000,6,0.000,0.052,2646,1953,2965
$GC,3208,-2.10,-45.0,456.2,-11.7,163,3212,0.00,2.33,0.00,0.000,4,0.000,0.058,2646,3347,2963
$GC,3275,-2.10,-45.0,464.1,-11.4,164,3279,0.00,2.38,0.00,0.000,6,0.000,0.054,2646,1947,2962
$GC,3617,-2.10,-45.0,500.6,-10.1,173,3621,0.00,2.38,0.00,0.000,4,0.000,0.065,2646,3342,2961
$GC,3696,-2.10,-45.0,508.7,-10.1,174,3702,0.00,2.38,0.00,0.000,6,0.000,0.058,2646,1950,2960
$GC,4028,-2.10,-45.0,540.7,-9.3,183,4032,0.00,2.38,0.00,0.000,4,0.000,0.065,2646,3338,2958
$GC,4160,-2.10,-45.0,554.0,-10.4,186,4164,0.00,2.40,0.00,0.000,6,0.000,0.064,2646,1945,2957
$GC,4484,-2.10,-45.0,586.8,-9.9,194,4488,0.00,2.42,0.00,0.000,4,0.000,0.077,2646,3333,2954
$GC,4652,-2.10,-45.0,603.6,-10.3,197,4658,0.00,2.45,0.00,0.000,6,0.000,0.075,2646,1947,2953
$GC,4984,-2.10,-45.0,636.8,-10.1,206,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1947,2951
$GC,5308,-2.10,-45.0,668.0,-9.6,214,5313,0.00,2.53,0.00,0.000,4,0.000,0.095,2646,3336,2949
$GC,5516,-2.10,-45.0,689.4,-9.5,218,5520,0.00,2.45,0.00,0.000,6,0.000,0.081,2646,1946,2948
$GC,5848,-2.10,-45.0,719.9,-9.1,226,5852,0.00,2.42,0.00,0.000,4,0.000,0.080,2646,3337,2945
$GC,6035,-2.10,-45.0,738.1,-9.4,230,6040,0.00,2.42,0.00,0.000,6,0.000,0.074,2646,1947,2944
$GC,6349,-2.10,-45.0,767.0,-9.1,238,6353,0.00,2.42,0.00,0.000,4,0.000,0.077,2646,3344,2942
$GC,6484,-2.10,-45.0,779.7,-9.3,241,6489,0.00,2.42,0.00,0.000,6,0.000,0.074,2646,1950,2942
$STATE,6719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6719,begin apogee
$GC,6727,-0.31,0.0,800.4,8.6,247,6769,1.92,0.00,37.53,1.169,6,0.114,0.000,3046,2043,2775
$STATE,6769,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6773,2.07,45.0,801.6,0.0,248,6823,2.20,2.75,40.67,1.149,4,0.046,0.110,3575,643,2591
$GC,6959,1.98,45.0,787.2,10.4,252,6964,0.12,2.38,0.00,0.000,6,0.136,0.054,3554,2045,2588
$GC,7273,1.98,47.4,762.9,7.6,260,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2046,2587
$GC,7597,1.99,52.9,739.3,7.1,268,7611,0.00,2.53,7.60,0.966,4,0.000,0.071,3555,3461,2559
$GC,7675,1.99,52.9,733.4,8.5,269,7679,0.00,2.40,0.00,0.000,6,0.000,0.049,3555,2048,2558
$GC,8013,1.99,53.4,706.7,7.9,278,8017,0.00,2.40,0.00,0.000,4,0.000,0.053,3554,3466,2557
$GC,8149,1.99,53.4,694.6,9.3,281,8153,0.00,2.40,0.00,0.000,6,0.000,0.052,3554,2042,2555
$GC,8473,1.99,53.4,667.2,8.2,289,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2042,2555
$GC,8799,2.02,58.3,643.1,7.2,297,8807,0.00,0.00,5.50,0.851,6,0.000,0.000,3554,2042,2537
$GC,9124,2.07,62.9,620.0,7.2,305,9134,0.00,2.42,5.60,0.844,4,0.000,0.054,3555,3463,2517
$GC,9344,2.10,65.0,602.0,7.7,310,9348,0.10,2.38,0.00,0.000,6,0.077,0.049,3579,2051,2517
$GC,9668,2.11,67.8,576.9,7.5,318,9679,0.00,2.38,5.68,0.831,4,0.000,0.053,3579,3462,2498
$GC,9903,2.11,69.7,557.2,7.7,323,9907,0.00,2.38,0.00,0.000,6,0.000,0.053,3579,2051,2497
$GC,10252,2.12,77.1,532.5,6.8,332,10266,0.00,2.42,9.55,0.925,4,0.000,0.053,3580,3468,2460
$GC,10486,2.12,77.1,513.2,9.2,337,10490,0.00,2.40,0.00,0.000,6,0.000,0.050,3579,2048,2459
$GC,10800,2.12,80.7,489.9,7.4,345,10809,0.00,2.60,4.62,0.716,4,0.000,0.100,3579,633,2446
$GC,10980,2.07,80.7,475.2,8.1,349,10984,0.00,2.33,0.00,0.000,6,0.000,0.037,3579,2065,2444
$GC,11311,2.07,85.5,450.9,7.2,357,11321,0.00,2.33,5.72,0.773,4,0.000,0.053,3579,3453,2426
$GC,11356,2.07,85.5,447.2,8.4,358,11360,0.00,2.35,0.00,0.000,6,0.000,0.042,3579,2042,2426
$GC,11675,2.11,90.5,423.2,7.2,366,11686,0.00,2.35,6.25,0.782,4,0.000,0.045,3579,3459,2405
$GC,11782,2.15,93.3,414.9,7.5,368,11791,0.00,2.35,4.25,0.643,6,0.000,0.044,3579,2043,2393
$GC,12132,2.19,97.8,390.0,7.2,377,12142,0.00,2.33,5.38,0.716,4,0.000,0.038,3579,3458,2376
$GC,12291,2.25,102.7,377.5,7.2,380,12303,0.12,2.33,6.10,0.739,6,0.067,0.044,3611,2048,2356
$GC,12628,2.25,102.7,347.2,9.5,388,12633,0.00,2.33,0.00,0.000,4,0.000,0.043,3610,3469,2355
$GC,12645,2.25,102.7,345.5,9.3,388,12649,0.00,2.33,0.00,0.000,6,0.000,0.035,3611,2047,2355
$GC,12988,2.25,106.2,318.7,7.4,397,12998,0.00,2.35,4.70,0.627,4,0.000,0.039,3611,3463,2341
$GC,13067,2.25,106.2,312.6,8.1,398,13073,0.00,2.33,0.00,0.000,6,0.000,0.039,3611,2042,2342
$GC,13399,2.26,117.4,290.5,6.1,407,13415,0.00,2.42,11.30,0.765,4,0.000,0.059,3611,640,2295
$GC,13668,2.21,117.4,265.6,9.1,413,13672,0.00,2.25,0.00,0.000,6,0.000,0.028,3611,2067,2294
$GC,13988,2.27,127.5,245.1,6.3,421,14003,0.00,2.45,10.32,0.710,4,0.000,0.058,3611,648,2254
$GC,14210,2.27,127.5,223.9,10.2,426,14214,0.00,2.20,0.00,0.000,6,0.000,0.027,3611,2051,2252
$GC,14530,2.33,127.5,197.5,8.6,434,14534,0.00,2.25,0.00,0.000,4,0.000,0.035,3611,3454,2252
$GC,14789,2.41,142.0,182.6,5.6,456,14809,0.15,2.28,13.98,0.663,6,0.058,0.032,3652,2035,2194
$GC,15135,2.41,142.0,151.9,9.5,489,15139,0.00,2.28,0.00,0.000,4,0.000,0.033,3652,3448,2193
$GC,15301,2.41,142.0,136.0,9.9,503,15306,0.00,2.25,0.00,0.000,6,0.000,0.033,3652,2044,2194
$GC,15627,2.41,142.0,104.8,9.5,533,15628,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2043,2195
$GC,15949,2.45,146.7,78.0,7.2,563,15961,0.00,2.35,6.50,0.493,4,0.000,0.053,3652,648,2175
$GC,16069,2.45,150.8,67.6,7.3,573,16079,0.00,2.17,4.85,0.435,6,0.000,0.022,3652,2057,2160
$GC,16407,2.53,167.1,46.8,5.3,605,16430,0.00,2.22,15.82,0.538,4,0.000,0.032,3652,3441,2092
$GC,16685,2.60,167.1,28.0,8.5,631,16691,0.15,2.25,0.00,0.000,6,0.054,0.033,3696,2046,2091
$STATE,16961,end climb,SURFACE_DEPTH_REACHED
$STATE,16961,begin surface coast
$FINISH,0.7,1.023047
$STATE,16990,end surface coast,CONTROL_FINISHED_OK
$STATE,16990,begin surface
$SM_CCo,17016,123.38,0.518,0,0,1470,320.12
$SM_GC,0.74,0.00,0.00,123.38,0.000,0.000,0.518,463,1940,1470,-12.22,-0.31,320.12
$IRIDIUM_FIX,2241.69,-15751.94,241097,111119
$TT8_MAMPS,0.026078
$HUMID,1635
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.90
$XPDR_PINGS,538
$24V_AH,23.2,63.358
$10V_AH,10.2,53.343
$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,30.500,141.700,211.925,123.375,0.000,57.559,115.664,179.008,134.500,0.000,0.000,16.725,1488.809,12774.467,440.498,2264.770,733.068,0.000,1541.441,0.000,2216.323,0.000,0.467
$DEVICE_MAMPS,176.410,175.643,1168.908,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.175,314.395,437.590,429.810,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50806,685
$CAP_FILE_SIZE,136410,0
$CFSIZE,260165632,232615936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,300708,155456,2249.233,-15747.978,42,1.0,42,10.1