version: 66.02
glider: 128
mission: 2
dive: 239
start: 9 15 107 13 22 30
data:
$ID,128
$MISSION,2
$DIVE,239
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-65054.293
$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,18
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,31
$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
$GPS1,131707,4808.100,-12223.911,29,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.5
$GPS2,132127,4808.102,-12223.915,11,1.6,11,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.008,-0.087
$KALMAN_X,17023.9,88.7,77.2,-17214.0,-135.6
$KALMAN_Y,10326.5,-462.4,104.4,-10645.2,141.9
$MHEAD_RNG_PITCHd_Wd,156.2,216,-26.1,-5.026
$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,-1.49,-32.7,0.0,0.0,0,132,0.00,0.00,-108.75,0.000,6,0.000,0.000,6,2249,2934
$GC,135,-1.53,-69.2,1.9,-1.1,20,155,9.38,2.35,-4.07,0.000,4,0.213,0.061,2311,3654,3081
$GC,456,-1.53,-69.2,28.7,-6.7,66,463,0.00,2.28,0.00,0.000,6,0.000,0.028,2311,2231,3084
$GC,654,-1.53,-69.2,41.8,-6.4,85,658,0.00,2.38,0.00,0.000,4,0.000,0.048,2300,3667,3085
$GC,761,-1.53,-69.2,48.9,-6.9,94,765,0.00,2.22,0.00,0.000,6,0.000,0.028,2300,2240,3085
$GC,958,-1.53,-69.2,62.0,-6.6,112,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2239,3086
$GC,1277,-1.53,-69.2,84.7,-7.4,142,1281,0.00,2.35,0.00,0.000,4,0.000,0.048,2289,3667,3086
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1412,-0.28,0.0,95.3,8.4,153,1470,1.48,0.00,53.78,0.779,6,0.148,0.000,2724,2151,2800
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1473,1.53,69.2,96.9,0.0,159,1534,1.73,2.38,52.92,0.700,4,0.076,0.042,3314,764,2517
$GC,1551,1.53,69.2,91.3,10.5,167,1556,0.00,2.33,0.00,0.000,6,0.000,0.035,3314,2159,2517
$GC,1879,1.53,69.2,52.7,11.7,197,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2160,2515
$GC,2195,1.53,69.2,17.2,10.6,229,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2160,2515
$GC,2269,1.53,69.2,10.2,9.4,242,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2160,2515
$GC,2343,1.53,69.2,3.8,8.5,255,2349,0.00,2.28,0.00,0.000,4,0.000,0.048,3314,3552,2515
$GC,2361,1.53,69.2,2.8,7.1,258,2367,0.00,2.22,0.00,0.000,6,0.000,0.031,3324,2153,2515
$GC,2435,1.60,126.8,3.0,-1.1,271,2476,0.00,2.33,35.00,0.733,4,0.000,0.040,3334,738,2282
$STATE,2497,end climb,SURFACE_DEPTH_REACHED
$STATE,2497,begin surface coast
$FINISH,0.5,1.022107
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2627,74.68,0.667,0,0,1576,300.00
$SM_GC,1.08,0.00,0.00,74.68,0.000,0.000,0.667,3,2252,1576,-8.81,0.06,300.00
$IRIDIUM_FIX,4748.51,-12224.57,150907,161606
$TT8_MAMPS,0.026078
$HUMID,1855
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,37.4
$24V_AH,24.8,27.217
$10V_AH,10.8,12.994
$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,22.375,28.025,141.700,74.675,0.000,37.102,45.202,94.355,0.500,0.000,0.000,13.286,508.138,1271.085,307.291,623.506,278.810,33.333,628.052,0.000,638.096,0.000,2.511
$DEVICE_MAMPS,213.226,61.360,779.272,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,214.788,229.738,508.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16055,301
$CFSIZE,260165632,250982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150907,140837,4807.950,-12223.960,13,0.9,29,18.3