version: 66.02
glider: 128
mission: 2
dive: 117
start: 9 9 107 23 15 23
data:
$ID,128
$MISSION,2
$DIVE,117
$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,-61537.086
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,230950,4807.335,-12223.414,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.5
$GPS2,231423,4807.315,-12223.396,13,3.1,32,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.122
$KALMAN_X,9416.0,17.4,-11.7,-8802.2,-15.5
$KALMAN_Y,3232.3,222.3,143.7,-5728.7,-36.3
$MHEAD_RNG_PITCHd_Wd,117.8,763,-13.2,-6.000
$D_GRID,103
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-77.05,0.000,2,0.000,0.000,16,2220,3266
$GC,101,-0.78,-146.6,3.1,-2.9,14,121,10.45,2.42,-2.97,0.000,4,0.217,0.062,2555,3618,3400
$GC,423,-0.78,-146.6,31.1,-6.9,57,430,0.00,2.28,0.00,0.000,6,0.000,0.028,2555,2199,3402
$GC,620,-0.78,-146.6,45.5,-7.3,76,624,0.00,2.35,0.00,0.000,4,0.000,0.048,2552,3618,3402
$GC,823,-0.78,-146.6,60.3,-7.0,94,827,0.00,2.22,0.00,0.000,6,0.000,0.028,2552,2201,3402
$GC,1147,-0.78,-146.6,81.3,-6.3,124,1151,0.00,2.33,0.00,0.000,4,0.000,0.049,2549,3609,3402
$GC,1178,-0.78,-146.6,83.4,-6.5,126,1186,0.00,2.22,0.00,0.000,6,0.000,0.028,2550,2207,3402
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1283,-0.23,0.0,90.2,6.6,136,1402,0.62,0.00,113.55,0.828,6,0.114,0.000,2744,2204,2800
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1405,0.78,146.6,92.4,0.0,148,1523,1.00,0.00,112.68,0.713,6,0.082,0.000,3065,2204,2201
$GC,1840,0.78,146.6,64.9,7.1,190,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2204,2200
$GC,2159,0.78,146.6,42.5,6.8,220,2163,0.00,2.33,0.00,0.000,4,0.000,0.041,3072,763,2198
$GC,2187,0.78,146.6,40.7,7.0,222,2193,0.00,2.22,0.00,0.000,6,0.000,0.033,3072,2151,2199
$GC,2383,0.78,146.6,27.2,6.9,241,2387,0.00,2.30,0.00,0.000,4,0.000,0.046,3072,3554,2199
$GC,2410,0.78,146.6,25.1,7.5,243,2414,0.00,2.22,0.00,0.000,6,0.000,0.030,3080,2157,2199
$GC,2616,0.78,146.6,11.2,7.3,272,2622,0.00,2.28,0.00,0.000,4,0.000,0.041,3083,744,2198
$GC,2651,0.78,146.6,8.7,7.0,278,2657,0.00,2.25,0.00,0.000,6,0.000,0.033,3083,2158,2198
$GC,2724,0.78,146.6,4.1,6.5,291,2730,0.00,2.28,0.00,0.000,4,0.000,0.046,3084,3555,2198
$GC,2748,0.78,146.6,2.8,6.1,295,2754,0.00,2.22,0.00,0.000,6,0.000,0.030,3092,2143,2198
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2770,begin surface coast
$FINISH,0.8,1.023961
$STATE,2816,end surface coast,CONTROL_FINISHED_OK
$STATE,2816,begin surface
$SM_CCo,2832,96.32,0.758,0,0,1373,350.04
$SM_GC,1.29,0.00,0.00,96.32,0.000,0.000,0.758,20,2238,1373,-8.75,0.79,350.04
$IRIDIUM_FIX,4751.72,-12223.57,100907,020220
$TT8_MAMPS,0.026845
$HUMID,1838
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.5,54.3
$24V_AH,24.3,17.904
$10V_AH,10.8,7.245
$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,20.900,32.050,226.225,96.325,0.000,37.899,42.955,98.892,0.750,0.000,0.000,35.081,519.460,1396.442,387.037,659.027,264.901,33.341,716.972,0.000,652.991,0.000,2.524
$DEVICE_MAMPS,217.061,62.894,827.593,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.258,241.257,518.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16016,307
$CFSIZE,260165632,254431232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,000525,4807.115,-12223.162,20,1.4,39,18.3