version: 66.03
glider: 146
mission: 2
dive: 73
start: 6 7 108 9 19 43
data:
$ID,146
$MISSION,2
$DIVE,73
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$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,120
$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,350
$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,-5898.2891
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3160
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,18
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,80
$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
$GPS1,091509,2236.138,-15736.800,10,1.9,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.1
$GPS2,091921,2236.150,-15736.812,14,1.7,14,10.1
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP23
$TGT_LATLONG,2231.600,-15745.800
$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,231.2,17534,-15.6,-13.333
$D_GRID,480
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.33,-292.0,0.0,0.0,0,73,0.00,0.00,-53.65,0.000,2,0.000,0.000,469,1778,2673
$GC,75,-1.33,-292.0,3.0,-5.9,7,123,12.57,2.42,-28.88,0.000,4,0.157,0.083,2862,415,3955
$GC,179,-1.33,-292.0,26.0,-27.2,23,186,0.00,2.25,0.00,0.000,6,0.000,0.031,2862,1831,3955
$GC,379,-1.33,-292.0,75.7,-21.7,43,383,0.00,2.53,0.00,0.000,4,0.000,0.084,2862,409,3957
$GC,442,-1.33,-292.0,90.7,-22.9,48,447,0.00,2.20,0.00,0.000,6,0.000,0.038,2862,1802,3956
$GC,641,-1.33,-292.0,127.7,-18.3,66,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1805,3958
$GC,830,-1.33,-292.0,165.2,-20.7,84,834,0.00,2.50,0.00,0.000,4,0.000,0.091,2862,416,3959
$GC,879,-1.33,-292.0,176.1,-20.4,88,883,0.00,2.22,0.00,0.000,6,0.000,0.045,2862,1806,3959
$GC,1094,-1.33,-292.0,209.9,-15.1,105,1099,0.00,2.53,0.00,0.000,4,0.000,0.101,2862,415,3960
$GC,1120,-1.33,-292.0,214.8,-16.1,106,1124,0.00,2.25,0.00,0.000,6,0.000,0.050,2862,1796,3959
$GC,1323,-1.33,-292.0,246.5,-14.8,116,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1798,3960
$GC,1511,-1.33,-292.0,269.5,-11.1,125,1516,0.00,2.55,0.00,0.000,4,0.000,0.104,2862,415,3960
$GC,1537,-1.33,-292.0,273.1,-12.0,126,1542,0.00,2.30,0.00,0.000,6,0.000,0.059,2862,1780,3960
$GC,1741,-1.33,-292.0,301.0,-14.1,136,1745,0.00,2.55,0.00,0.000,4,0.000,0.108,2861,414,3960
$GC,1761,-1.33,-292.0,304.3,-14.4,136,1766,0.00,2.35,0.00,0.000,6,0.000,0.061,2862,1793,3960
$GC,1984,-1.33,-292.0,331.3,-11.8,142,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1795,3961
$GC,2186,-1.33,-292.0,353.7,-11.0,147,2190,0.00,2.60,0.00,0.000,4,0.000,0.114,2861,418,3961
$GC,2224,-1.33,-292.0,358.3,-11.7,148,2228,0.00,2.38,0.00,0.000,6,0.000,0.070,2862,1795,3961
$GC,2426,-1.33,-292.0,380.9,-11.4,153,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1796,3961
$GC,2630,-1.33,-292.0,406.3,-12.5,158,2634,0.00,2.62,0.00,0.000,4,0.000,0.117,2862,415,3961
$GC,2659,-1.33,-292.0,410.1,-13.1,158,2663,0.00,2.40,0.00,0.000,6,0.000,0.073,2862,1799,3960
$GC,2868,-1.33,-292.0,434.0,-11.2,163,2872,0.00,2.62,0.00,0.000,4,0.000,0.118,2862,420,3959
$GC,2894,-1.33,-292.0,437.3,-12.0,163,2898,0.00,2.42,0.00,0.000,6,0.000,0.074,2862,1789,3960
$GC,3110,-1.33,-292.0,462.2,-11.5,169,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1791,3959
$STATE,3270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3270,begin apogee
$GC,3275,-0.31,0.0,482.2,12.2,173,3517,1.02,0.00,238.68,0.899,6,0.083,0.000,3092,1860,2775
$STATE,3517,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3519,1.33,292.0,502.1,0.0,179,3770,1.50,2.58,240.48,0.876,4,0.048,0.084,3457,3254,1584
$GC,3797,1.33,292.0,476.8,16.1,185,3804,0.00,2.42,0.00,0.000,6,0.000,0.064,3457,1880,1580
$GC,4007,1.33,292.0,441.9,16.7,191,4011,0.00,2.85,0.00,0.000,4,0.000,0.136,3457,435,1576
$GC,4047,1.33,292.0,435.5,17.0,192,4051,0.00,2.47,0.00,0.000,6,0.000,0.074,3457,1852,1574
$GC,4248,1.33,292.0,404.8,14.9,197,4252,0.00,2.38,0.00,0.000,4,0.000,0.054,3457,3263,1573
$GC,4268,1.33,292.0,401.4,15.5,197,4273,0.00,2.42,0.00,0.000,6,0.000,0.057,3456,1851,1572
$GC,4489,1.33,292.0,364.4,17.4,203,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1851,1571
$GC,4692,1.33,292.0,329.4,17.1,208,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1851,1570
$GC,4895,1.33,292.0,298.6,14.7,213,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1851,1568
$GC,5081,1.33,292.0,267.5,16.9,222,5085,0.00,2.55,0.00,0.000,4,0.000,0.094,3457,442,1568
$GC,5101,1.33,292.0,263.9,17.5,223,5106,0.00,2.38,0.00,0.000,6,0.000,0.056,3457,1865,1567
$GC,5306,1.33,292.0,231.6,15.4,233,5311,0.00,2.58,0.00,0.000,4,0.000,0.087,3457,442,1566
$GC,5327,1.33,292.0,227.6,16.7,234,5332,0.00,2.33,0.00,0.000,6,0.000,0.047,3456,1844,1565
$GC,5520,1.33,292.0,197.2,14.9,244,5524,0.00,2.28,0.00,0.000,4,0.000,0.040,3457,3257,1564
$GC,5552,1.33,292.0,191.8,15.7,246,5561,0.00,2.35,0.00,0.000,6,0.000,0.039,3457,1838,1564
$GC,5752,1.33,292.0,162.9,13.4,265,5755,0.00,2.47,0.00,0.000,4,0.000,0.092,3457,449,1563
$GC,5789,1.33,292.0,156.8,15.0,268,5799,0.00,2.30,0.00,0.000,6,0.000,0.044,3457,1844,1562
$GC,5989,1.33,292.0,130.1,14.1,287,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1845,1562
$GC,6180,1.33,292.0,99.0,16.6,305,6184,0.00,2.25,0.00,0.000,4,0.000,0.035,3457,3251,1562
$GC,6242,1.33,292.0,89.6,13.9,310,6246,0.00,2.25,0.00,0.000,6,0.000,0.035,3457,1848,1561
$GC,6446,1.40,346.6,63.5,11.7,329,6497,0.00,2.28,44.17,0.601,4,0.000,0.037,3456,3251,1361
$GC,6513,1.45,383.9,55.6,12.2,334,6551,0.00,2.30,32.80,0.580,6,0.000,0.040,3457,1850,1209
$GC,6746,1.47,404.2,29.2,12.7,355,6770,0.10,2.45,17.85,0.540,4,0.073,0.077,3484,452,1125
$GC,6848,1.47,404.2,11.7,18.7,372,6857,0.00,2.22,0.00,0.000,6,0.000,0.027,3484,1855,1123
$STATE,6895,end climb,SURFACE_DEPTH_REACHED
$STATE,6895,begin surface coast
$FINISH,0.7,1.023298
$STATE,6913,end surface coast,CONTROL_FINISHED_OK
$STATE,6913,begin surface
$SM_CCo,6993,0.00,0.000,0,0,1117,406.46
$SM_GC,1.31,12.32,0.00,0.00,0.031,0.000,0.000,475,1795,1117,-12.25,-0.14,406.46
$IRIDIUM_FIX,2227.67,-15736.81,010997,070758
$TT8_MAMPS,0.025311
$HUMID,1608
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,20.80
$XPDR_PINGS,346
$24V_AH,23.7,14.964
$10V_AH,10.2,9.421
$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,27.525,92.025,573.975,0.000,0.000,25.709,29.861,114.679,96.750,0.000,0.000,16.353,775.835,4210.993,585.215,1413.431,272.592,0.000,1178.122,0.000,1385.841,0.000,64.373
$DEVICE_MAMPS,157.235,135.759,898.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.598,228.797,328.348,421.329,888.314,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28819,383
$CAP_FILE_SIZE,73209,0
$CFSIZE,260165632,254730240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070608,111725,2235.266,-15738.153,35,1.8,35,10.1