version: 66.03
glider: 128
mission: 2
dive: 453
start: 9 24 107 4 51 40
data:
$ID,128
$MISSION,2
$DIVE,453
$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,-69918.93
$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,50
$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
$GPS1,044638,4806.042,-12221.944,27,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.2
$GPS2,045039,4806.068,-12221.963,12,1.3,12,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.123
$KALMAN_X,-12928.3,-330.0,142.7,15081.7,-78.9
$KALMAN_Y,-11705.5,437.7,-178.6,8499.5,-61.0
$MHEAD_RNG_PITCHd_Wd,120.9,2309,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.81,-146.6,0.0,0.0,0,111,0.00,0.00,-81.15,0.000,2,0.000,0.000,19,2266,3362
$GC,115,-0.81,-146.6,3.2,-2.9,15,134,10.27,2.38,-0.80,0.000,4,0.209,0.050,2550,843,3402
$GC,186,-0.81,-146.6,12.9,-9.4,27,193,0.00,2.28,0.00,0.000,6,0.000,0.032,2542,2228,3402
$GC,262,-0.81,-146.6,17.9,-6.4,40,268,0.00,2.38,0.00,0.000,4,0.000,0.048,2532,3660,3403
$GC,281,-0.81,-146.6,19.2,-6.5,43,288,0.00,2.25,0.00,0.000,6,0.000,0.027,2533,2232,3403
$GC,358,-0.81,-146.6,24.7,-7.0,51,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2230,3403
$GC,550,-0.81,-146.6,37.5,-6.6,69,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2230,3403
$GC,741,-0.81,-146.6,50.3,-6.8,87,745,0.00,2.35,0.00,0.000,4,0.000,0.046,2524,3660,3403
$GC,770,-0.81,-146.6,52.4,-7.6,89,777,0.12,2.20,0.00,0.000,6,0.133,0.027,2555,2240,3403
$GC,1095,-0.81,-146.6,72.0,-6.1,120,1099,0.00,2.17,0.00,0.000,4,0.000,0.037,2555,867,3404
$GC,1141,-0.81,-146.6,74.9,-6.5,124,1145,0.00,2.22,0.00,0.000,6,0.000,0.032,2554,2260,3404
$GC,1470,-0.81,-146.6,94.8,-6.0,154,1474,0.00,2.12,0.00,0.000,3,0.000,0.048,2546,3579,3404
$STATE,1474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1474,begin apogee
$GC,1484,-0.28,0.0,95.5,6.0,154,1601,0.57,0.00,111.47,0.752,6,0.112,0.000,2728,2149,2800
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1604,0.81,146.6,98.1,0.0,166,1722,1.05,0.00,111.15,0.705,6,0.077,0.000,3073,2148,2202
$GC,2040,0.81,146.6,66.7,8.0,208,2045,0.00,2.35,0.00,0.000,4,0.000,0.044,3073,3562,2199
$GC,2070,0.81,146.6,64.1,8.6,210,2076,0.00,2.25,0.00,0.000,6,0.000,0.028,3082,2158,2198
$GC,2397,0.81,146.6,38.0,7.4,241,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2157,2198
$GC,2586,0.81,146.6,23.1,7.5,259,2590,0.00,2.33,0.00,0.000,4,0.000,0.044,3083,3561,2199
$GC,2608,0.81,146.6,21.1,8.3,260,2614,0.00,2.25,0.00,0.000,6,0.000,0.028,3092,2140,2199
$GC,2816,0.81,146.6,5.1,7.5,296,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2139,2199
$STATE,2865,end climb,SURFACE_DEPTH_REACHED
$STATE,2865,begin surface coast
$FINISH,0.5,1.001684
$STATE,2900,end surface coast,CONTROL_FINISHED_OK
$STATE,2900,begin surface
$SM_CCo,2921,92.38,0.681,0,0,1372,350.04
$SM_GC,1.30,0.00,0.00,92.38,0.000,0.000,0.681,20,2272,1372,-8.75,0.62,350.04
$IRIDIUM_FIX,4748.51,-12224.57,240907,070706
$TT8_MAMPS,0.026078
$HUMID,1915
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,44.0
$24V_AH,24.5,42.540
$10V_AH,10.7,21.883
$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,20.700,32.000,222.625,92.375,0.000,26.302,14.512,96.546,0.250,0.000,0.000,14.310,521.629,1472.999,378.835,606.194,296.630,33.329,702.229,0.000,621.993,0.000,4.650
$DEVICE_MAMPS,209.391,50.622,752.427,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.257,246.312,524.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15978,311
$CFSIZE,260165632,244805632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,054305,4805.794,-12221.757,13,2.6,32,18.3