version: 66.03
glider: 128
mission: 2
dive: 380
start: 9 21 107 8 27 46
data:
$ID,128
$MISSION,2
$DIVE,380
$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,60
$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,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,-68377.242
$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,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,49
$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
$GPS1,082255,4806.188,-12222.038,39,1.0,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.1
$GPS2,082645,4806.193,-12222.050,13,1.2,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.126
$KALMAN_X,-6035.9,141.1,-22.4,7774.7,-57.2
$KALMAN_Y,-3964.6,-358.9,-131.2,1740.7,-70.7
$MHEAD_RNG_PITCHd_Wd,122.9,2564,-11.3,-5.278
$D_GRID,108
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.81,-146.6,0.0,0.0,0,105,0.00,0.00,-76.25,0.000,2,0.000,0.000,18,2272,3240
$GC,109,-0.81,-146.6,3.1,-2.8,14,127,10.12,0.00,-3.33,0.000,6,0.206,0.000,2550,2272,3400
$GC,195,-0.81,-146.6,14.0,-7.4,29,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2272,3403
$GC,269,-0.81,-146.6,19.1,-6.9,42,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2272,3402
$GC,341,-0.81,-146.6,24.0,-6.6,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2272,3403
$GC,532,-0.81,-146.6,37.1,-7.0,68,536,0.00,2.30,0.00,0.000,4,0.000,0.035,2550,837,3404
$GC,576,-0.81,-146.6,40.3,-7.1,71,582,0.00,2.25,0.00,0.000,6,0.000,0.033,2549,2244,3404
$GC,774,-0.81,-146.6,53.4,-6.5,90,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2244,3404
$GC,1092,-0.81,-146.6,73.5,-6.4,120,1096,0.00,2.30,0.00,0.000,4,0.000,0.049,2545,3649,3404
$GC,1124,-0.81,-146.6,75.8,-6.4,122,1131,0.00,2.22,0.00,0.000,6,0.000,0.028,2545,2220,3404
$STATE,1426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1434,-0.28,0.0,95.2,6.2,151,1551,0.55,0.00,111.85,0.776,6,0.112,0.000,2720,2217,2799
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1552,begin climb
$GC,1555,0.81,146.6,97.7,0.0,163,1672,1.08,0.00,110.95,0.692,6,0.080,0.000,3073,2217,2201
$GC,1990,0.81,146.6,66.6,7.9,205,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2217,2199
$GC,2309,0.81,146.6,42.4,7.4,235,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2217,2199
$GC,2500,0.81,146.6,29.4,6.8,253,2504,0.00,2.33,0.00,0.000,4,0.000,0.039,3082,768,2199
$GC,2523,0.81,146.6,27.7,7.2,255,2526,0.00,2.20,0.00,0.000,6,0.000,0.031,3082,2152,2199
$GC,2726,0.81,146.6,13.3,7.1,282,2732,0.00,2.28,0.00,0.000,4,0.000,0.045,3082,3550,2199
$GC,2750,0.81,146.6,11.3,7.3,286,2757,0.00,2.20,0.00,0.000,6,0.000,0.029,3092,2157,2199
$GC,2826,0.81,146.6,5.3,8.1,299,2832,0.00,2.25,0.00,0.000,4,0.000,0.040,3099,750,2199
$GC,2890,0.83,160.6,2.0,4.9,310,2898,0.00,2.25,3.47,0.495,2,0.000,0.032,3099,2147,2183
$STATE,2899,end climb,SURFACE_DEPTH_REACHED
$STATE,2899,begin surface coast
$FINISH,0.3,1.000873
$STATE,2943,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,2962,89.28,0.689,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,89.28,0.000,0.000,0.689,15,2266,1372,-8.77,0.45,350.04
$IRIDIUM_FIX,4748.51,-12221.84,210907,111142
$TT8_MAMPS,0.026845
$HUMID,1896
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,44.5
$24V_AH,24.5,37.244
$10V_AH,10.7,18.946
$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,20.475,22.725,226.275,89.275,0.000,26.585,12.431,92.716,0.500,0.000,0.000,15.478,526.586,1515.933,376.402,615.548,269.796,33.329,696.585,0.000,630.211,0.000,2.514
$DEVICE_MAMPS,206.323,59.059,776.204,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.807,251.251,538.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15961,319
$CFSIZE,260165632,246681600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,091927,4805.846,-12221.854,12,1.6,12,18.3