version: 66.03
glider: 146
mission: 2
dive: 89
start: 6 8 108 16 47 20
data:
$ID,146
$MISSION,2
$DIVE,89
$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,330
$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,-6239.7524
$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,32
$R_STBD_OVSHOOT,49
$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
$GPS1,164255,2236.027,-15747.896,24,0.9,42,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.6
$GPS2,164657,2235.985,-15747.979,11,1.0,11,10.0
$SPEED_LIMITS,0.190,0.389
$TGT_NAME,PUMP30
$TGT_LATLONG,2236.600,-15747.300
$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,35.5,1627,-28.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.88,-92.9,0.0,0.0,0,74,0.00,0.00,-53.92,0.000,2,0.000,0.000,468,1788,2777
$GC,76,-1.97,-167.2,3.2,-6.2,7,109,12.02,2.30,-14.75,0.000,4,0.163,0.043,2724,3195,3460
$GC,231,-1.97,-167.2,46.7,-26.0,28,236,0.00,2.22,0.00,0.000,6,0.000,0.033,2724,1806,3463
$GC,431,-1.97,-167.2,102.6,-26.0,46,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1804,3464
$GC,623,-1.97,-167.2,151.9,-24.7,64,627,0.00,2.20,0.00,0.000,4,0.000,0.026,2724,3205,3465
$GC,642,-1.97,-167.2,156.7,-22.7,65,646,0.00,2.25,0.00,0.000,6,0.000,0.032,2724,1800,3465
$GC,840,-1.97,-167.2,196.8,-17.7,83,844,0.00,2.20,0.00,0.000,4,0.000,0.030,2724,3200,3466
$GC,878,-1.97,-167.2,204.3,-18.0,85,885,0.00,2.28,0.00,0.000,6,0.000,0.035,2724,1803,3467
$GC,1072,-1.97,-167.2,235.7,-16.2,95,1076,0.00,2.22,0.00,0.000,4,0.000,0.043,2724,3194,3468
$GC,1105,-1.97,-167.2,241.8,-16.5,96,1114,0.00,2.30,0.00,0.000,6,0.000,0.038,2724,1799,3468
$GC,1296,-1.97,-167.2,277.4,-18.3,106,1300,0.00,2.25,0.00,0.000,4,0.000,0.038,2724,3196,3468
$GC,1365,-1.97,-167.2,290.5,-19.9,109,1369,0.00,2.30,0.00,0.000,6,0.000,0.045,2724,1800,3469
$GC,1580,-1.97,-167.2,335.1,-20.8,116,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1800,3469
$GC,1783,-1.97,-167.2,377.5,-20.9,121,1787,0.00,2.30,0.00,0.000,4,0.000,0.050,2724,3189,3469
$GC,1803,-1.97,-167.2,381.7,-18.9,121,1808,0.00,2.38,0.00,0.000,6,0.000,0.054,2724,1803,3469
$GC,2024,-1.97,-167.2,420.0,-17.3,127,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1802,3468
$GC,2229,-1.97,-167.2,452.1,-15.6,132,2233,0.00,2.35,0.00,0.000,4,0.000,0.064,2724,3179,3468
$GC,2305,-1.97,-167.2,463.6,-14.2,133,2312,0.00,2.38,0.00,0.000,6,0.000,0.070,2724,1803,3468
$STATE,2432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2433,begin apogee
$GC,2436,-0.31,0.0,482.5,15.0,137,2580,1.70,0.00,139.93,0.888,6,0.098,0.000,3091,1802,2775
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2583,1.97,167.2,485.9,0.0,140,2725,2.12,0.00,136.88,0.866,6,0.041,0.000,3595,1802,2093
$GC,2917,1.97,167.2,436.4,19.9,149,2921,0.00,2.42,0.00,0.000,4,0.000,0.058,3595,3235,2086
$GC,3073,1.97,167.2,408.1,17.7,152,3078,0.00,2.38,0.00,0.000,6,0.000,0.053,3595,1849,2084
$GC,3299,1.97,167.2,368.3,17.8,158,3303,0.00,2.30,0.00,0.000,4,0.000,0.042,3596,3245,2082
$GC,3370,1.97,167.2,357.2,14.4,159,3375,0.00,2.35,0.00,0.000,6,0.000,0.051,3595,1847,2081
$GC,3585,1.97,167.2,323.8,15.9,165,3589,0.00,2.28,0.00,0.000,4,0.000,0.044,3595,3240,2080
$GC,3657,1.97,167.2,312.0,15.7,166,3661,0.00,2.33,0.00,0.000,6,0.000,0.041,3595,1850,2079
$GC,3853,1.97,167.2,279.8,16.4,174,3857,0.00,2.25,0.00,0.000,4,0.000,0.042,3595,3240,2077
$GC,4050,1.97,167.2,247.0,16.6,183,4054,0.00,2.28,0.00,0.000,6,0.000,0.039,3595,1840,2077
$GC,4255,1.97,167.2,213.2,16.6,193,4258,0.00,2.28,0.00,0.000,4,0.000,0.044,3595,3249,2075
$GC,4510,1.98,178.9,175.2,12.2,212,4524,0.00,2.28,7.65,0.623,6,0.000,0.038,3595,1842,2045
$GC,4713,1.98,178.9,149.5,13.4,231,4717,0.00,2.25,0.00,0.000,4,0.000,0.041,3595,3241,2043
$GC,4871,2.01,201.5,130.3,11.2,245,4897,0.00,2.30,20.25,0.650,6,0.000,0.044,3595,1845,1952
$GC,5097,2.01,201.5,99.1,15.5,266,5101,0.00,2.25,0.00,0.000,4,0.000,0.040,3595,3243,1948
$GC,5220,2.01,201.5,79.8,15.4,277,5224,0.00,2.25,0.00,0.000,6,0.000,0.038,3595,1846,1948
$GC,5425,2.03,221.3,53.4,11.4,296,5445,0.00,0.00,17.17,0.568,6,0.000,0.000,3595,1845,1871
$GC,5636,2.03,221.3,24.3,14.0,319,5645,0.00,2.28,0.00,0.000,4,0.000,0.035,3595,3247,1868
$STATE,5791,end climb,SURFACE_DEPTH_REACHED
$STATE,5791,begin surface coast
$FINISH,0.6,1.003842
$STATE,5816,end surface coast,CONTROL_FINISHED_OK
$STATE,5816,begin surface
$SM_CCo,5838,88.15,0.538,0,0,1428,330.17
$SM_GC,1.07,0.00,0.00,88.15,0.000,0.000,0.538,470,1789,1428,-12.37,-0.31,330.17
$IRIDIUM_FIX,2230.01,-15746.34,020997,151536
$TT8_MAMPS,0.026078
$HUMID,1563
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,21.10
$XPDR_PINGS,351
$24V_AH,23.8,17.293
$10V_AH,10.2,10.758
$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,28.575,68.725,321.875,88.150,0.000,31.443,27.214,106.771,98.000,0.000,0.000,13.089,733.775,3302.800,471.939,1410.179,266.072,0.000,983.020,0.000,1393.288,0.000,65.133
$DEVICE_MAMPS,163.371,69.797,888.186,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,240.576,218.723,312.970,410.948,867.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25689,351
$CAP_FILE_SIZE,63033,0
$CFSIZE,260165632,254103552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,080608,182707,2236.264,-15747.788,9,1.6,26,10.0