version: 66.03
glider: 128
mission: 2
dive: 381
start: 9 21 107 9 24 22
data:
$ID,128
$MISSION,2
$DIVE,381
$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,-68391.945
$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,47
$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
$GPS1,091927,4805.846,-12221.854,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.4
$GPS2,092321,4805.850,-12221.878,12,1.6,12,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.104
$KALMAN_X,-6346.6,202.7,74.0,8141.7,-151.9
$KALMAN_Y,-4061.1,-399.4,-176.5,1287.3,-57.6
$MHEAD_RNG_PITCHd_Wd,111.5,1912,-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,-76.12,0.000,2,0.000,0.000,15,2267,3253
$GC,108,-0.81,-146.6,3.2,-2.9,14,127,10.25,0.00,-3.20,0.000,6,0.209,0.000,2551,2267,3401
$GC,195,-0.81,-146.6,12.7,-6.9,29,201,0.00,2.30,0.00,0.000,4,0.000,0.036,2552,849,3403
$GC,236,-0.81,-146.6,15.5,-6.6,36,243,0.00,2.25,0.00,0.000,6,0.000,0.033,2550,2245,3403
$GC,317,-0.81,-146.6,20.8,-6.7,49,321,0.00,2.33,0.00,0.000,4,0.000,0.048,2544,3652,3404
$GC,346,-0.81,-146.6,23.0,-7.2,51,350,0.00,2.25,0.00,0.000,6,0.000,0.028,2544,2224,3404
$GC,543,-0.81,-146.6,37.0,-6.9,69,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2221,3404
$GC,734,-0.81,-146.6,50.1,-6.9,87,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2221,3404
$GC,1053,-0.81,-146.6,71.6,-6.5,117,1057,0.00,2.38,0.00,0.000,4,0.000,0.048,2541,3656,3404
$GC,1074,-0.81,-146.6,73.3,-7.3,118,1081,0.00,2.20,0.00,0.000,6,0.000,0.028,2541,2244,3404
$GC,1401,-0.81,-146.6,94.7,-6.3,149,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2241,3404
$STATE,1406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1407,begin apogee
$GC,1413,-0.28,0.0,95.4,6.4,150,1530,0.57,0.00,111.95,0.775,6,0.114,0.000,2723,2148,2799
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1534,0.81,146.6,97.9,0.0,162,1651,1.08,0.00,110.97,0.693,6,0.079,0.000,3077,2148,2202
$GC,1969,0.81,146.6,67.4,7.9,204,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2148,2199
$GC,2288,0.81,146.6,42.8,7.3,234,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2148,2199
$GC,2479,0.81,146.6,28.8,7.5,252,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2148,2199
$GC,2673,0.81,146.6,15.3,6.9,275,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2148,2199
$GC,2748,0.81,146.6,10.2,6.9,288,2754,0.00,2.33,0.00,0.000,4,0.000,0.044,3076,3562,2199
$GC,2778,0.81,146.6,8.1,7.0,293,2784,0.00,2.22,0.00,0.000,6,0.000,0.030,3084,2158,2198
$GC,2853,0.81,146.6,3.7,5.7,306,2859,0.00,2.28,0.00,0.000,4,0.000,0.041,3088,741,2198
$STATE,2897,end climb,SURFACE_DEPTH_REACHED
$STATE,2897,begin surface coast
$FINISH,0.4,1.023459
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,2981,97.57,0.696,0,0,1373,350.04
$SM_GC,1.17,0.00,0.00,97.57,0.000,0.000,0.696,8,2267,1373,-8.79,0.51,350.04
$IRIDIUM_FIX,4751.72,-12226.29,210907,121232
$TT8_MAMPS,0.026078
$HUMID,1902
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,48.6
$24V_AH,24.5,37.317
$10V_AH,10.7,18.987
$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,20.625,23.100,222.925,97.575,0.000,23.562,20.903,92.993,0.750,0.000,0.000,14.077,535.143,1526.139,383.633,615.548,274.427,33.334,700.394,0.000,631.228,0.000,2.521
$DEVICE_MAMPS,209.391,62.127,774.670,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.503,256.913,548.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15910,325
$CFSIZE,260165632,246657024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,101647,4805.524,-12221.558,9,2.7,28,18.3