version: 66.03
glider: 128
mission: 2
dive: 457
start: 9 24 107 8 36 44
data:
$ID,128
$MISSION,2
$DIVE,457
$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,-70014.914
$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,44
$R_STBD_OVSHOOT,48
$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
$GPS1,083123,4805.134,-12221.055,11,3.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.5
$GPS2,083544,4805.157,-12221.096,27,1.6,33,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.051
$KALMAN_X,-13697.1,40.9,-107.7,16801.7,-146.5
$KALMAN_Y,-11734.3,-36.1,208.8,6926.0,-105.6
$MHEAD_RNG_PITCHd_Wd,106.4,314,-26.8,-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,-1.53,-33.4,0.0,0.0,0,94,0.00,0.00,-64.18,0.000,6,0.000,0.000,6,2277,2937
$GC,98,-1.57,-68.0,2.2,-1.5,12,116,9.18,0.00,-4.07,0.000,6,0.202,0.000,2308,2277,3078
$GC,185,-1.57,-68.0,8.6,-6.2,27,191,0.00,2.28,0.00,0.000,4,0.000,0.046,2299,3644,3080
$GC,210,-1.57,-68.0,10.2,-6.4,31,216,0.00,2.25,0.00,0.000,6,0.000,0.028,2299,2224,3079
$GC,285,-1.57,-68.0,15.0,-6.5,44,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2222,3080
$GC,360,-1.57,-68.0,20.1,-7.0,57,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2222,3080
$GC,551,-1.57,-68.0,33.8,-7.2,75,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2222,3081
$GC,742,-1.57,-68.0,48.3,-7.4,93,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2222,3081
$GC,933,-1.57,-68.0,63.1,-7.8,111,937,0.00,2.17,0.00,0.000,4,0.000,0.037,2299,851,3081
$GC,966,-1.57,-68.0,65.8,-8.5,113,972,0.00,2.22,0.00,0.000,6,0.000,0.032,2289,2252,3081
$GC,1295,-1.57,-68.0,92.5,-7.9,144,1299,0.00,2.22,0.00,0.000,4,0.000,0.037,2289,860,3081
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1330,-0.28,0.0,95.2,8.3,146,1388,1.50,0.00,53.08,0.777,6,0.147,0.000,2719,2157,2800
$STATE,1388,end apogee,CONTROL_FINISHED_OK
$STATE,1388,begin climb
$GC,1391,1.57,68.0,97.0,0.0,152,1455,1.80,2.45,52.08,0.708,4,0.075,0.044,3323,3559,2521
$GC,1491,1.57,68.0,88.7,11.8,161,1495,0.00,2.30,0.00,0.000,6,0.000,0.028,3333,2157,2520
$GC,1819,1.57,68.0,49.7,11.8,191,1823,0.00,2.33,0.00,0.000,4,0.000,0.043,3333,3554,2520
$GC,1859,1.57,68.0,44.2,13.7,194,1863,0.00,2.25,0.00,0.000,6,0.000,0.029,3344,2147,2520
$GC,2063,1.57,68.0,19.9,11.4,213,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2146,2520
$GC,2137,1.57,68.0,11.8,10.8,226,2144,0.00,2.33,0.00,0.000,4,0.000,0.042,3344,3555,2519
$GC,2156,1.57,68.0,9.5,11.3,229,2163,0.00,2.25,0.00,0.000,6,0.000,0.029,3355,2142,2520
$STATE,2223,end climb,SURFACE_DEPTH_REACHED
$STATE,2223,begin surface coast
$FINISH,0.5,1.024310
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2241,begin surface
$SM_CCo,2263,139.82,0.662,0,0,1372,350.04
$SM_GC,1.16,0.00,0.00,139.82,0.000,0.000,0.662,12,2265,1372,-8.78,0.42,350.04
$IRIDIUM_FIX,4748.51,-12224.57,240907,111113
$TT8_MAMPS,0.026845
$HUMID,1869
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,43.2
$24V_AH,24.7,42.808
$10V_AH,10.7,22.036
$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,22.050,27.325,105.150,139.825,0.000,25.655,20.361,91.987,0.250,0.000,0.000,34.710,438.514,1128.783,318.389,519.396,279.649,33.326,584.671,0.000,507.648,0.000,2.513
$DEVICE_MAMPS,202.488,52.156,776.971,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,173.095,188.820,411.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12864,244
$CFSIZE,260165632,244707328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,091753,4805.084,-12220.956,8,2.4,27,18.3