version: 66.03
glider: 146
mission: 2
dive: 543
start: 7 30 108 16 2 1
data:
$ID,146
$MISSION,2
$DIVE,543
$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,-17484.24
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,155456,2249.233,-15747.978,42,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.2
$GPS2,160138,2249.299,-15747.929,9,1.1,14,10.1
$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,207.1,3021,-24.6,-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,26,-1.61,-53.5,0.0,0.0,0,77,0.00,0.00,-49.10,0.000,2,0.000,0.000,463,1939,2748
$GC,81,-1.63,-75.5,3.1,-5.8,9,106,12.80,2.40,-7.32,0.000,4,0.178,0.068,2756,553,3086
$GC,277,-1.39,-75.5,52.0,-22.7,35,282,0.30,2.17,0.00,0.000,6,0.127,0.022,2813,1955,3089
$GC,606,-1.32,-75.5,105.0,-14.9,65,610,0.00,2.38,0.00,0.000,4,0.000,0.058,2813,559,3091
$GC,635,-1.22,-75.5,109.9,-15.3,67,640,0.20,2.15,0.00,0.000,6,0.106,0.020,2853,1958,3091
$GC,961,-1.22,-75.5,148.3,-11.5,97,965,0.00,2.40,0.00,0.000,4,0.000,0.058,2853,552,3091
$GC,1017,-1.22,-75.5,155.3,-12.3,101,1023,0.00,2.15,0.00,0.000,6,0.000,0.021,2853,1952,3091
$GC,1345,-1.26,-75.5,192.3,-12.0,132,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1953,3091
$GC,1660,-1.32,-75.5,224.7,-9.9,145,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1953,3092
$GC,1985,-1.41,-75.5,255.5,-9.5,153,1989,0.15,2.40,0.00,0.000,4,0.046,0.064,2793,561,3092
$GC,2041,-1.37,-75.5,261.7,-11.1,154,2045,0.12,2.15,0.00,0.000,6,0.106,0.025,2818,1941,3093
$GC,2390,-1.42,-75.5,295.3,-9.3,163,2394,0.00,2.25,0.00,0.000,4,0.000,0.039,2818,3343,3093
$GC,2440,-1.48,-75.5,300.3,-9.6,164,2445,0.00,2.22,0.00,0.000,6,0.000,0.031,2818,1956,3093
$GC,2754,-1.55,-75.5,329.6,-9.7,172,2759,0.15,2.47,0.00,0.000,4,0.048,0.075,2761,549,3093
$GC,2885,-1.47,-75.5,345.2,-12.2,175,2890,0.17,2.22,0.00,0.000,6,0.100,0.033,2796,1932,3093
$GC,3216,-1.51,-75.5,377.4,-9.5,183,3220,0.00,2.42,0.00,0.000,4,0.000,0.071,2796,545,3092
$GC,3244,-1.51,-75.5,380.6,-10.9,183,3249,0.00,2.28,0.00,0.000,6,0.000,0.035,2796,1952,3092
$GC,3577,-1.55,-75.5,409.7,-8.5,191,3581,0.00,2.47,0.00,0.000,4,0.000,0.081,2795,545,3090
$GC,3600,-1.58,-75.5,411.7,-8.6,191,3604,0.00,2.30,0.00,0.000,6,0.000,0.039,2795,1949,3090
$GC,3943,-1.63,-76.2,439.6,-7.9,200,3945,0.15,0.00,0.00,0.000,6,0.050,0.000,2746,1949,3088
$GC,4268,-1.58,-76.2,473.2,-10.5,208,4273,0.12,2.45,0.00,0.000,4,0.104,0.069,2772,3366,3086
$GC,4295,-1.58,-76.2,476.4,-10.8,208,4300,0.00,2.38,0.00,0.000,6,0.000,0.051,2772,1951,3085
$GC,4627,-1.58,-76.2,507.7,-9.3,216,4631,0.00,2.38,0.00,0.000,4,0.000,0.064,2772,3358,3083
$GC,4638,-1.58,-76.2,508.7,-9.0,216,4642,0.00,2.38,0.00,0.000,6,0.000,0.051,2772,1949,3082
$GC,4951,-1.58,-76.2,537.7,-9.4,224,4955,0.00,2.40,0.00,0.000,4,0.000,0.066,2772,3357,3081
$GC,4990,-1.58,-76.2,541.4,-9.5,224,4996,0.00,2.40,0.00,0.000,6,0.000,0.058,2772,1950,3080
$GC,5321,-1.58,-76.2,569.1,-8.3,233,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1950,3078
$GC,5647,-1.58,-77.3,595.7,-7.9,241,5651,0.00,2.47,0.00,0.000,4,0.000,0.074,2772,3359,3076
$GC,5732,-1.64,-82.3,602.5,-7.5,243,5737,0.00,2.45,0.00,0.000,6,0.000,0.077,2772,1951,3075
$GC,6058,-1.67,-82.9,627.9,-7.9,251,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1952,3073
$GC,6383,-1.72,-89.6,651.9,-7.3,259,6388,0.12,2.53,0.00,0.000,4,0.111,0.087,2734,3355,3071
$GC,6439,-1.72,-89.6,657.0,-9.0,260,6443,0.00,2.55,0.00,0.000,6,0.000,0.090,2734,1950,3071
$GC,6787,-1.68,-89.6,687.2,-8.6,269,6792,0.00,2.83,0.00,0.000,4,0.000,0.148,2733,539,3069
$GC,6804,-1.62,-89.6,688.9,-8.8,269,6810,0.15,2.53,0.00,0.000,6,0.108,0.088,2763,1942,3069
$GC,7147,-1.62,-89.6,717.4,-8.4,278,7152,0.00,2.65,0.00,0.000,4,0.000,0.111,2763,536,3067
$GC,7170,-1.62,-89.6,719.6,-9.6,278,7174,0.00,2.42,0.00,0.000,6,0.000,0.061,2763,1960,3067
$GC,7507,-1.62,-89.6,747.3,-8.2,287,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1960,3065
$GC,7832,-1.65,-89.6,773.7,-8.0,295,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1960,3064
$GC,8157,-1.69,-95.5,798.0,-7.4,303,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1960,3062
$STATE,8194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8194,begin apogee
$GC,8202,-0.31,0.0,801.0,7.3,304,8269,1.30,0.00,63.42,1.183,6,0.087,0.000,3049,2055,2775
$STATE,8270,end apogee,CONTROL_FINISHED_OK
$STATE,8270,begin climb
$GC,8274,1.66,95.5,802.0,0.0,305,8364,1.80,0.00,85.78,1.162,6,0.048,0.000,3486,2055,2385
$GC,8686,1.59,95.5,763.2,10.7,316,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2055,2375
$GC,9011,1.53,95.5,730.0,10.3,324,9013,0.17,0.00,0.00,0.000,6,0.120,0.000,3454,2055,2374
$GC,9336,1.53,95.5,699.9,9.2,332,9340,0.00,2.58,0.00,0.000,4,0.000,0.084,3454,635,2372
$GC,9397,1.46,95.5,693.6,10.1,333,9401,0.00,2.38,0.00,0.000,6,0.000,0.048,3453,2055,2371
$GC,9740,1.46,95.5,660.9,9.5,342,9744,0.00,2.53,0.00,0.000,4,0.000,0.081,3454,636,2370
$GC,9831,1.40,95.5,651.8,9.7,344,9836,0.15,2.38,0.00,0.000,6,0.132,0.048,3427,2056,2370
$GC,10150,1.45,95.5,625.4,8.2,352,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2058,2369
$GC,10475,1.51,95.5,599.5,8.3,360,10480,0.10,2.53,0.00,0.000,4,0.077,0.077,3451,636,2368
$GC,10554,1.46,95.5,591.7,9.5,361,10560,0.00,2.35,0.00,0.000,6,0.000,0.047,3452,2049,2367
$GC,10886,1.46,95.5,563.6,8.4,370,10890,0.00,2.50,0.00,0.000,4,0.000,0.084,3452,3466,2367
$GC,10902,1.46,95.5,562.1,8.4,370,10906,0.00,2.40,0.00,0.000,6,0.000,0.052,3452,2045,2367
$GC,11245,1.46,95.5,532.6,8.7,379,11249,0.00,2.60,0.00,0.000,4,0.000,0.101,3452,639,2367
$GC,11351,1.42,95.5,522.5,9.9,381,11356,0.12,2.33,0.00,0.000,6,0.129,0.041,3430,2058,2367
$GC,11695,1.50,101.0,497.2,7.5,390,11699,0.00,2.40,0.00,0.000,4,0.000,0.067,3430,3456,2366
$GC,11718,1.58,108.0,495.4,7.3,390,11735,0.15,2.38,8.57,0.884,6,0.068,0.049,3467,2042,2335
$GC,12060,1.58,108.0,465.0,8.5,399,12064,0.00,2.55,0.00,0.000,4,0.000,0.092,3467,642,2334
$GC,12121,1.53,108.0,459.4,8.5,400,12126,0.00,2.30,0.00,0.000,6,0.000,0.035,3467,2070,2333
$GC,12470,1.53,108.0,430.4,8.3,409,12475,0.00,2.30,0.00,0.000,4,0.000,0.050,3467,3453,2333
$GC,12504,1.53,110.5,427.6,7.8,409,12514,0.00,2.35,4.00,0.628,6,0.000,0.047,3467,2041,2323
$GC,12840,1.53,110.5,399.6,8.4,418,12844,0.00,2.42,0.00,0.000,4,0.000,0.071,3467,643,2323
$GC,12936,1.49,110.5,391.0,9.2,420,12941,0.12,2.28,0.00,0.000,6,0.131,0.035,3445,2064,2322
$GC,13255,1.57,124.6,369.1,6.6,428,13271,0.00,0.00,14.05,0.854,6,0.000,0.000,3445,2065,2267
$GC,13581,1.65,125.3,343.1,7.9,436,13585,0.15,2.47,0.00,0.000,4,0.064,0.066,3487,636,2264
$GC,13648,1.60,125.3,337.1,9.1,437,13652,0.00,2.25,0.00,0.000,6,0.000,0.033,3487,2056,2264
$GC,13991,1.61,132.9,311.6,7.2,446,14005,0.00,2.47,8.45,0.756,4,0.000,0.058,3487,648,2233
$GC,14086,1.56,132.9,303.8,8.5,448,14090,0.15,2.22,0.00,0.000,6,0.123,0.026,3461,2050,2231
$GC,14405,1.64,132.9,278.4,8.0,456,14409,0.00,2.40,0.00,0.000,4,0.000,0.064,3460,640,2231
$GC,14618,1.69,147.7,263.1,6.5,460,14637,0.12,2.22,14.48,0.762,6,0.071,0.033,3492,2051,2172
$GC,14952,1.75,159.8,240.1,6.8,469,14966,0.00,0.00,11.98,0.716,6,0.000,0.000,3492,2051,2123
$GC,15277,1.80,159.8,208.4,10.8,477,15282,0.00,2.40,0.00,0.000,4,0.000,0.061,3492,640,2120
$GC,15345,1.80,159.8,200.9,10.5,478,15349,0.00,2.22,0.00,0.000,6,0.000,0.031,3492,2061,2119
$GC,15673,1.90,173.5,173.8,6.6,508,15690,0.17,0.00,13.00,0.655,6,0.057,0.000,3538,2063,2066
$GC,16011,1.90,173.5,139.9,9.8,540,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2063,2065
$GC,16328,1.90,173.5,106.1,10.4,570,16332,0.00,2.22,0.00,0.000,4,0.000,0.041,3537,3447,2065
$GC,16398,1.90,173.5,98.5,10.5,576,16402,0.00,2.28,0.00,0.000,6,0.000,0.041,3538,2034,2066
$GC,16724,1.91,184.4,68.4,6.9,606,16742,0.00,0.00,11.25,0.545,6,0.000,0.000,3538,2034,2023
$GC,17067,1.97,191.6,43.1,7.3,638,17085,0.00,2.38,7.88,0.493,4,0.000,0.040,3538,3448,1993
$GC,17133,2.05,194.8,37.6,7.7,644,17145,0.12,2.25,4.65,0.410,6,0.060,0.032,3575,2048,1980
$GC,17477,2.05,194.8,6.8,9.0,697,17484,0.00,2.33,0.00,0.000,4,0.000,0.051,3575,646,1979
$STATE,17518,end climb,SURFACE_DEPTH_REACHED
$STATE,17518,begin surface coast
$FINISH,0.6,1.010472
$STATE,17545,end surface coast,CONTROL_FINISHED_OK
$STATE,17545,begin surface
$SM_CCo,17573,102.00,0.524,0,0,1469,320.12
$SM_GC,0.95,0.00,0.00,102.00,0.000,0.000,0.524,467,1962,1469,-12.20,0.34,320.12
$IRIDIUM_FIX,2241.69,-15746.73,241097,111109
$TT8_MAMPS,0.026078
$HUMID,1666
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.70
$XPDR_PINGS,468
$24V_AH,23.2,63.472
$10V_AH,10.2,53.421
$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,31.650,147.550,247.500,102.000,0.000,30.280,35.939,189.417,117.000,0.000,0.000,16.120,1427.901,13810.537,501.293,1705.578,633.778,0.000,1376.289,0.000,1678.674,0.000,0.467
$DEVICE_MAMPS,177.944,148.031,1183.481,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.396,322.844,446.866,433.411,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50867,709
$CAP_FILE_SIZE,130288,0
$CFSIZE,260165632,232554496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300708,205756,2248.918,-15747.990,36,1.9,36,10.1