version: 66.03
glider: 128
mission: 2
dive: 436
start: 9 23 107 12 53 40
data:
$ID,128
$MISSION,2
$DIVE,436
$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,-69553.242
$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,46
$R_STBD_OVSHOOT,51
$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
$GPS1,124825,4805.214,-12221.360,36,1.7,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.1
$GPS2,125239,4805.183,-12221.341,13,1.8,13,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,0.162
$KALMAN_X,-11710.4,413.1,63.9,13968.4,-102.1
$KALMAN_Y,-10323.6,-294.4,112.8,5921.4,-367.9
$MHEAD_RNG_PITCHd_Wd,338.4,6166,-11.3,-5.278
$D_GRID,109
$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,-146.6,0.0,0.0,0,116,0.00,0.00,-83.28,0.000,6,0.000,0.000,7,2274,3399
$GC,120,-0.81,-146.6,4.2,-4.2,16,138,10.27,2.30,0.00,0.000,4,0.208,0.044,2544,3637,3402
$GC,441,-0.81,-146.6,34.9,-6.9,54,448,0.00,2.20,0.00,0.000,6,0.000,0.026,2545,2228,3404
$GC,639,-0.81,-146.6,47.9,-6.5,73,643,0.00,2.33,0.00,0.000,4,0.000,0.047,2537,3636,3404
$GC,786,-0.81,-146.6,58.2,-7.3,86,790,0.00,2.17,0.00,0.000,6,0.000,0.027,2537,2240,3404
$GC,1114,-0.81,-146.6,80.7,-6.9,116,1118,0.00,2.20,0.00,0.000,4,0.000,0.037,2537,853,3404
$GC,1188,-0.81,-146.6,86.1,-6.8,122,1192,0.00,2.20,0.00,0.000,6,0.000,0.032,2535,2237,3404
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1327,-0.28,0.0,95.1,6.4,134,1444,0.60,0.00,111.30,0.751,6,0.109,0.000,2726,2152,2799
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1448,0.81,146.6,97.7,0.0,146,1565,1.05,0.00,110.88,0.703,6,0.074,0.000,3074,2152,2201
$GC,1883,0.81,146.6,68.2,7.6,188,1887,0.00,2.33,0.00,0.000,4,0.000,0.044,3074,3549,2199
$GC,1918,0.81,146.6,65.4,8.5,191,1922,0.00,2.25,0.00,0.000,6,0.000,0.028,3081,2151,2199
$GC,2245,0.81,146.6,39.7,7.6,221,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2150,2199
$GC,2434,0.81,146.6,25.9,7.0,239,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2150,2199
$GC,2631,0.81,146.6,11.8,7.2,267,2638,0.00,2.30,0.00,0.000,4,0.000,0.044,3081,3550,2199
$GC,2679,0.81,146.6,8.4,7.2,275,2685,0.00,2.22,0.00,0.000,6,0.000,0.028,3090,2144,2199
$GC,2754,0.81,146.6,3.1,7.0,288,2760,0.00,2.33,0.00,0.000,4,0.000,0.044,3090,3558,2199
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2770,begin surface coast
$FINISH,0.4,1.023861
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2821,93.45,0.682,0,0,1373,350.04
$SM_GC,1.15,0.00,0.00,93.45,0.000,0.000,0.682,4,2243,1373,-8.80,-0.20,350.04
$IRIDIUM_FIX,4748.51,-12224.57,230907,151536
$TT8_MAMPS,0.026845
$HUMID,1899
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,50.3
$24V_AH,24.5,41.315
$10V_AH,10.7,21.197
$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,20.575,27.025,222.175,93.450,0.000,30.365,14.722,101.826,0.250,0.000,0.000,15.449,500.361,1401.045,373.543,624.963,291.745,33.332,698.429,0.000,638.935,0.000,2.520
$DEVICE_MAMPS,207.857,59.059,750.893,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,210.817,232.460,499.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12852,296
$CFSIZE,260165632,245239808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,134322,4805.347,-12221.309,9,3.0,28,18.3