version: 66.03
glider: 146
mission: 2
dive: 546
start: 7 31 108 7 7 42
data:
$ID,146
$MISSION,2
$DIVE,546
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,125
$T_MISSION,160
$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,-17533.264
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,070108,2249.558,-15748.194,38,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.1
$GPS2,070720,2249.569,-15748.216,11,1.1,15,10.1
$SPEED_LIMITS,0.114,0.320
$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,194.6,3200,-8.8,-8.000
$D_GRID,300
$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,-0.91,-292.0,0.0,0.0,0,77,0.00,0.00,-48.97,0.000,2,0.000,0.000,465,1942,2749
$GC,81,-0.91,-292.0,3.1,-6.4,9,128,13.48,2.42,-24.88,0.000,4,0.172,0.077,2914,553,3955
$GC,212,-0.48,-292.0,30.5,-21.6,31,217,0.45,2.17,0.00,0.000,6,0.084,0.021,3013,1966,3957
$GC,538,-0.37,-292.0,64.7,-8.0,61,543,0.12,2.40,0.00,0.000,4,0.078,0.061,3044,556,3957
$GC,647,-0.47,-292.0,71.4,-6.3,70,652,0.12,2.15,0.00,0.000,6,0.059,0.027,3004,1962,3957
$GC,973,-0.62,-292.0,96.9,-8.1,100,977,0.00,2.38,0.00,0.000,4,0.000,0.055,3003,556,3957
$GC,1104,-0.83,-292.0,108.8,-9.3,111,1109,0.28,2.12,0.00,0.000,6,0.053,0.020,2933,1957,3957
$GC,1431,-0.79,-292.0,138.8,-8.4,141,1435,0.00,2.17,0.00,0.000,4,0.000,0.041,2932,3316,3957
$GC,1483,-0.61,-292.0,143.3,-8.5,145,1488,0.25,2.17,0.00,0.000,6,0.064,0.028,2991,1949,3957
$GC,1810,-0.51,-292.0,167.9,-8.0,175,1814,0.00,2.38,0.00,0.000,4,0.000,0.067,2991,551,3957
$GC,1913,-0.47,-292.0,176.3,-8.2,184,1917,0.12,2.12,0.00,0.000,6,0.074,0.021,3023,1942,3957
$GC,2244,-0.50,-292.0,196.8,-5.7,215,2248,0.00,2.38,0.00,0.000,4,0.000,0.065,3023,555,3957
$GC,2324,-0.56,-292.0,201.7,-5.8,220,2330,0.12,2.12,0.00,0.000,6,0.053,0.020,2977,1952,3958
$GC,2656,-0.66,-292.0,227.4,-7.7,229,2660,0.00,2.17,0.00,0.000,4,0.000,0.040,2977,3323,3958
$GC,2758,-0.80,-292.0,236.1,-8.8,231,2763,0.15,2.17,0.00,0.000,6,0.061,0.026,2935,1941,3958
$GC,3107,-0.80,-292.0,265.6,-8.2,240,3111,0.00,2.38,0.00,0.000,4,0.000,0.066,2934,557,3958
$GC,3169,-0.74,-292.0,270.8,-8.6,241,3173,0.10,2.12,0.00,0.000,6,0.081,0.023,2959,1936,3958
$GC,3513,-0.85,-292.0,296.3,-7.3,250,3517,0.12,2.25,0.00,0.000,4,0.053,0.038,2916,3339,3958
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3564,-0.31,0.0,300.3,8.1,251,3801,0.55,0.00,232.62,0.725,6,0.057,0.000,3050,2052,2775
$STATE,3802,end apogee,CONTROL_FINISHED_OK
$STATE,3802,begin climb
$GC,3806,0.91,292.0,314.1,0.0,257,4052,1.10,2.55,237.15,0.715,4,0.041,0.071,3321,655,1583
$GC,4110,0.83,305.9,300.1,7.7,264,4129,0.00,2.22,13.12,0.636,6,0.000,0.028,3320,2040,1525
$GC,4462,0.77,305.9,272.4,8.2,273,4467,0.15,2.42,0.00,0.000,4,0.082,0.070,3282,651,1522
$GC,4606,0.81,312.9,262.2,7.9,276,4617,0.00,2.22,6.53,0.558,6,0.000,0.034,3282,2053,1499
$GC,4961,0.89,346.6,237.5,7.4,285,5002,0.15,2.45,31.38,0.673,4,0.050,0.064,3331,654,1360
$GC,5171,0.83,346.6,219.1,8.4,289,5176,0.15,2.22,0.00,0.000,6,0.083,0.025,3298,2061,1356
$GC,5503,0.89,394.8,197.1,7.1,297,5550,0.00,2.28,42.08,0.656,4,0.000,0.037,3297,3450,1164
$GC,5634,1.02,433.4,187.6,7.3,308,5676,0.20,2.25,33.58,0.640,6,0.039,0.035,3362,2040,1007
$GC,5995,0.95,433.4,153.0,10.2,342,6000,0.15,2.28,0.00,0.000,4,0.082,0.031,3324,3451,1001
$GC,6047,1.08,451.3,148.6,7.7,346,6068,0.15,2.25,15.27,0.588,6,0.047,0.031,3378,2048,935
$GC,6388,0.98,451.3,110.5,11.2,378,6393,0.20,2.25,0.00,0.000,4,0.079,0.038,3331,3451,931
$GC,6440,1.09,451.3,105.9,8.8,382,6445,0.10,2.22,0.00,0.000,6,0.058,0.031,3373,2049,929
$GC,6767,1.01,451.3,74.3,10.0,412,6771,0.15,2.25,0.00,0.000,4,0.084,0.032,3336,3452,929
$GC,6829,1.12,451.3,68.8,8.9,417,6836,0.12,2.25,0.00,0.000,6,0.051,0.030,3386,2039,929
$GC,7156,1.07,451.3,36.5,9.1,448,7160,0.15,2.35,0.00,0.000,4,0.082,0.062,3348,648,929
$GC,7291,1.14,486.4,26.9,7.3,462,7326,0.00,2.20,29.10,0.522,6,0.000,0.023,3348,2074,792
$STATE,7629,end climb,SURFACE_DEPTH_REACHED
$STATE,7629,begin surface coast
$FINISH,0.8,1.023054
$STATE,7678,end surface coast,CONTROL_FINISHED_OK
$STATE,7678,begin surface
$SM_CCo,7762,0.00,0.000,0,0,786,487.90
$SM_GC,1.06,11.48,0.00,0.00,0.021,0.000,0.000,463,1926,786,-12.07,-0.68,487.90
$IRIDIUM_FIX,2244.02,-15748.90,251097,020251
$TT8_MAMPS,0.026078
$HUMID,1656
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,23.90
$XPDR_PINGS,578
$24V_AH,23.6,63.862
$10V_AH,10.2,53.649
$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,30.125,77.050,640.825,0.000,0.000,25.543,26.158,172.432,144.500,0.000,0.000,16.876,972.079,4730.494,622.926,1317.835,486.783,0.000,1323.855,0.000,1298.226,0.000,0.468
$DEVICE_MAMPS,171.808,77.467,724.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.640,337.763,479.310,533.072,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38117,530
$CAP_FILE_SIZE,80564,0
$CFSIZE,260165632,232423424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310708,091751,2250.067,-15747.895,8,1.9,8,10.1