version: 66.03
glider: 128
mission: 2
dive: 345
start: 9 19 107 22 5 47
data:
$ID,128
$MISSION,2
$DIVE,345
$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,-67636.727
$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
$ROLL_DEG,50
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,34
$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,150
$AH0_10V,100
$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,32
$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
$GPS1,220103,4807.571,-12223.390,7,1.5,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.4
$GPS2,220445,4807.553,-12223.384,12,1.4,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,0.144
$KALMAN_X,-2291.5,-93.5,43.5,2549.1,-216.2
$KALMAN_Y,-2514.4,208.2,-157.4,2267.9,-50.9
$MHEAD_RNG_PITCHd_Wd,318.1,1125,-10.6,-5.026
$D_GRID,107
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,99,0.00,0.00,-71.07,0.000,2,0.000,0.000,13,2261,3318
$GC,102,-0.77,-146.6,3.2,-3.0,13,121,10.35,0.00,-1.65,0.000,6,0.211,0.000,2566,2261,3399
$GC,189,-0.77,-146.6,13.6,-6.6,28,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2261,3401
$GC,263,-0.77,-146.6,18.0,-5.9,41,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2261,3402
$GC,341,-0.77,-146.6,22.7,-6.1,51,345,0.00,2.92,0.00,0.000,4,0.000,0.052,2562,4001,3402
$GC,369,-0.77,-146.6,24.5,-6.6,53,374,0.00,2.83,0.00,0.000,6,0.000,0.028,2562,2228,3402
$GC,567,-0.77,-146.6,36.7,-6.0,71,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2226,3402
$GC,758,-0.77,-146.6,48.3,-6.0,89,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2226,3402
$GC,949,-0.77,-146.6,60.1,-6.2,107,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2226,3402
$GC,1268,-0.77,-146.6,80.0,-6.2,137,1272,0.00,2.97,0.00,0.000,4,0.000,0.051,2550,4009,3402
$GC,1300,-0.77,-146.6,82.3,-6.8,139,1306,0.00,2.78,0.00,0.000,6,0.000,0.028,2550,2246,3402
$STATE,1506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1506,begin apogee
$GC,1512,-0.28,0.0,95.3,6.3,159,1629,0.55,0.00,111.05,0.759,6,0.113,0.000,2724,2150,2799
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1630,begin climb
$GC,1633,0.77,146.6,97.8,0.0,171,1748,1.02,0.00,110.70,0.707,6,0.079,0.000,3061,2150,2202
$GC,2065,0.77,146.6,69.4,7.2,212,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2150,2199
$GC,2383,0.77,146.6,46.7,7.3,242,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2150,2198
$GC,2574,0.77,146.6,33.0,6.8,260,2579,0.00,2.92,0.00,0.000,4,0.000,0.047,3061,3915,2198
$GC,2614,0.77,146.6,29.9,8.0,263,2618,0.00,2.80,0.00,0.000,6,0.000,0.029,3073,2161,2198
$GC,2816,0.77,146.6,15.4,6.9,286,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2158,2198
$GC,2891,0.77,146.6,10.1,6.9,299,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2158,2198
$GC,2965,0.77,146.6,5.0,7.0,312,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2158,2198
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3020,begin surface coast
$FINISH,0.4,1.002939
$STATE,3060,end surface coast,CONTROL_FINISHED_OK
$STATE,3060,begin surface
$SM_CCo,3079,70.15,0.700,0,0,1576,300.00
$SM_GC,1.19,0.00,0.00,70.15,0.000,0.000,0.700,5,2275,1576,-8.80,0.71,300.00
$IRIDIUM_FIX,4751.72,-12219.12,200907,010140
$TT8_MAMPS,0.026078
$HUMID,1908
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.7,42.0
$24V_AH,24.5,34.753
$10V_AH,10.7,17.475
$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,20.525,17.475,221.750,70.150,0.000,27.871,14.091,87.783,0.750,0.000,0.000,13.528,546.250,1605.340,339.747,643.583,260.105,33.316,672.835,0.000,658.443,0.000,2.510
$DEVICE_MAMPS,210.925,62.127,758.563,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.333,261.383,555.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,329
$CFSIZE,260165632,247631872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190907,225903,4807.804,-12223.706,10,1.3,10,18.3