version: 66.03
glider: 128
mission: 2
dive: 412
start: 9 22 107 14 20 52
data:
$ID,128
$MISSION,2
$DIVE,412
$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,-69021.805
$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,45
$R_STBD_OVSHOOT,43
$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
$GPS1,141545,4805.449,-12221.392,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.1
$GPS2,141951,4805.397,-12221.348,14,1.6,14,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,0.155
$KALMAN_X,-9179.6,266.6,45.5,11593.3,-61.5
$KALMAN_Y,-6156.5,-492.3,-310.2,2768.8,-216.1
$MHEAD_RNG_PITCHd_Wd,324.7,5830,-11.3,-5.278
$D_GRID,110
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.81,-146.6,0.0,0.0,0,105,0.00,0.00,-75.62,0.000,2,0.000,0.000,13,2273,3267
$GC,109,-0.81,-146.6,3.6,-3.5,14,127,10.10,0.00,-2.75,0.000,6,0.203,0.000,2552,2273,3399
$GC,195,-0.81,-146.6,13.5,-6.9,29,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2273,3400
$GC,270,-0.81,-146.6,18.3,-6.4,42,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2273,3401
$GC,342,-0.81,-146.6,22.9,-6.5,51,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2273,3401
$GC,533,-0.81,-146.6,35.2,-6.1,69,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2273,3402
$GC,724,-0.81,-146.6,47.1,-6.4,87,728,0.00,2.30,0.00,0.000,4,0.000,0.037,2553,841,3401
$GC,765,-0.81,-146.6,49.8,-6.5,90,769,0.00,2.25,0.00,0.000,6,0.000,0.033,2553,2247,3402
$GC,962,-0.81,-146.6,62.6,-6.4,108,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2247,3401
$GC,1281,-0.81,-146.6,82.6,-6.2,138,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2247,3401
$STATE,1480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1480,begin apogee
$GC,1487,-0.28,0.0,95.4,6.4,157,1604,0.52,0.00,110.88,0.751,6,0.106,0.000,2723,2126,2799
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,0.81,146.6,98.0,0.0,169,1722,1.08,0.00,110.55,0.693,6,0.076,0.000,3080,2126,2202
$GC,2040,0.81,146.6,67.7,8.0,210,2044,0.00,2.38,0.00,0.000,4,0.000,0.044,3079,3555,2199
$GC,2069,0.81,146.6,65.2,8.9,212,2075,0.00,2.22,0.00,0.000,6,0.000,0.029,3090,2165,2199
$GC,2396,0.81,146.6,37.5,8.2,243,2400,0.00,2.28,0.00,0.000,4,0.000,0.040,3096,751,2199
$GC,2428,0.81,146.6,34.5,7.9,245,2435,0.00,2.25,0.00,0.000,6,0.000,0.031,3096,2158,2199
$GC,2627,0.81,146.6,18.4,7.9,265,2633,0.00,2.28,0.00,0.000,4,0.000,0.045,3097,3549,2199
$GC,2674,0.81,146.6,14.4,8.3,273,2681,0.00,2.22,0.00,0.000,6,0.000,0.029,3106,2146,2199
$GC,2750,0.81,146.6,8.3,7.8,286,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2144,2199
$GC,2824,0.81,146.6,2.7,7.9,299,2831,0.00,2.25,0.00,0.000,4,0.000,0.040,3111,746,2198
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.7,1.024307
$STATE,2864,end surface coast,CONTROL_FINISHED_OK
$STATE,2864,begin surface
$SM_CCo,2886,103.05,0.673,0,0,1372,350.04
$SM_GC,1.02,0.00,0.00,103.05,0.000,0.000,0.673,8,2256,1372,-8.79,0.14,350.04
$IRIDIUM_FIX,4748.51,-12217.40,220907,171738
$TT8_MAMPS,0.026845
$HUMID,1918
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,47.5
$24V_AH,24.5,39.568
$10V_AH,10.7,20.232
$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,20.375,23.025,221.425,103.050,0.000,23.794,21.714,96.752,0.250,0.000,0.000,16.287,511.083,1470.335,378.005,609.585,288.629,33.327,702.328,0.000,622.895,0.000,2.519
$DEVICE_MAMPS,203.255,49.855,750.893,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.224,236.798,516.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,306
$CFSIZE,260165632,245841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,151153,4805.640,-12221.574,14,3.0,33,18.3