version: 66.02
glider: 128
mission: 2
dive: 112
start: 9 9 107 18 39 20
data:
$ID,128
$MISSION,2
$DIVE,112
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-61422.391
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,183035,4807.427,-12223.217,7,4.3,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.7
$GPS2,183820,4807.435,-12223.208,8,1.1,13,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.096
$KALMAN_X,9177.5,128.9,78.5,-8535.2,-5.3
$KALMAN_Y,3048.1,-17.3,-92.8,-4850.0,168.1
$MHEAD_RNG_PITCHd_Wd,286.2,1434,-13.2,-6.000
$D_GRID,105
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.78,-146.6,0.0,0.0,0,105,0.00,0.00,-82.35,0.000,2,0.000,0.000,7,2223,3397
$GC,108,-0.78,-146.6,3.4,-3.4,15,126,10.48,2.35,0.00,0.000,4,0.216,0.048,2551,3605,3401
$GC,205,-0.78,-146.6,16.4,-7.5,32,212,0.00,2.30,0.00,0.000,6,0.000,0.029,2551,2181,3402
$GC,283,-0.78,-146.6,21.8,-6.9,44,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2180,3401
$GC,475,-0.78,-146.6,34.3,-6.3,62,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2180,3402
$GC,666,-0.78,-146.6,46.1,-6.3,80,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2180,3402
$GC,857,-0.78,-146.6,58.4,-6.4,98,861,0.00,2.40,0.00,0.000,4,0.000,0.052,2551,3617,3403
$GC,895,-0.78,-146.6,60.9,-6.6,101,899,0.00,2.25,0.00,0.000,6,0.000,0.029,2551,2196,3403
$GC,1221,-0.78,-146.6,82.4,-6.7,131,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2196,3403
$STATE,1334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1338,-0.23,0.0,90.3,6.7,142,1458,0.62,0.00,112.80,0.798,6,0.115,0.000,2745,2192,2799
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1460,0.78,146.6,92.5,0.0,154,1580,1.00,2.50,112.03,0.722,4,0.082,0.044,3075,760,2202
$GC,1602,0.78,146.6,85.7,6.9,167,1606,0.00,2.35,0.00,0.000,6,0.000,0.037,3075,2140,2201
$GC,1929,0.78,146.6,61.8,7.1,197,1933,0.00,2.38,0.00,0.000,4,0.000,0.051,3075,3556,2199
$GC,1971,0.78,146.6,58.2,7.7,200,1979,0.00,2.30,0.00,0.000,6,0.000,0.033,3084,2166,2199
$GC,2299,0.78,146.6,33.8,7.6,231,2303,0.00,2.33,0.00,0.000,4,0.000,0.047,3092,746,2198
$GC,2330,0.78,146.6,31.1,7.4,233,2338,0.00,2.33,0.00,0.000,6,0.000,0.037,3092,2157,2198
$GC,2531,0.78,146.6,15.9,7.4,256,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2158,2198
$GC,2604,0.78,146.6,10.1,7.6,269,2610,0.00,2.30,0.00,0.000,4,0.000,0.051,3092,3563,2198
$GC,2633,0.78,146.6,7.7,8.3,274,2640,0.08,2.30,0.00,0.000,6,0.139,0.033,3077,2152,2198
$GC,2708,0.80,164.3,2.9,5.4,287,2727,0.00,2.38,13.15,0.853,4,0.000,0.047,3082,745,2129
$STATE,2731,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$FINISH,1.1,1.024917
$STATE,2743,end surface coast,CONTROL_FINISHED_OK
$STATE,2743,begin surface
$SM_CCo,2762,84.07,0.710,0,0,1373,350.04
$SM_GC,1.15,0.00,0.00,84.07,0.000,0.000,0.710,16,2219,1373,-8.76,0.25,350.04
$IRIDIUM_FIX,4751.72,-12223.57,090907,222257
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,49.6
$24V_AH,24.3,17.510
$10V_AH,10.8,7.044
$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,21.125,32.900,237.975,84.075,0.000,72.777,83.854,166.718,0.250,0.000,0.000,14.776,493.836,1457.729,369.069,599.078,417.206,33.336,702.133,0.000,609.768,0.000,2.519
$DEVICE_MAMPS,215.527,52.156,852.904,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.117,227.239,494.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12904,293
$CFSIZE,260165632,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,192732,4807.725,-12223.543,10,1.3,11,18.3