version: 66.03
glider: 128
mission: 2
dive: 470
start: 9 24 107 20 44 22
data:
$ID,128
$MISSION,2
$DIVE,470
$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,-70295.039
$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,52
$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
$GPS1,203909,4807.694,-12223.695,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.2
$GPS2,204321,4807.688,-12223.688,11,1.5,11,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,-0.095
$KALMAN_X,-15227.3,22.6,-66.0,15103.2,-196.5
$KALMAN_Y,-11838.8,303.9,176.4,11412.7,-72.5
$MHEAD_RNG_PITCHd_Wd,107.6,5986,-11.3,-5.278
$D_GRID,105
$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,-146.6,0.0,0.0,0,112,0.00,0.00,-81.18,0.000,2,0.000,0.000,6,2271,3357
$GC,115,-0.81,-146.6,3.2,-2.7,15,134,10.32,2.38,-0.85,0.000,4,0.209,0.048,2552,843,3402
$GC,440,-0.81,-146.6,32.9,-7.2,56,446,0.00,2.25,0.00,0.000,6,0.000,0.033,2549,2240,3404
$GC,638,-0.81,-146.6,46.1,-6.7,75,642,0.00,2.25,0.00,0.000,4,0.000,0.036,2549,841,3404
$GC,806,-0.81,-146.6,57.9,-6.8,89,812,0.00,2.25,0.00,0.000,6,0.000,0.032,2542,2251,3404
$GC,1136,-0.81,-146.6,79.2,-6.6,120,1140,0.00,2.30,0.00,0.000,4,0.000,0.048,2534,3651,3404
$GC,1164,-0.81,-146.6,81.4,-6.7,122,1168,0.00,2.22,0.00,0.000,6,0.000,0.028,2534,2224,3404
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1388,-0.28,0.0,95.7,6.7,142,1505,0.60,0.00,111.60,0.749,6,0.110,0.000,2724,2164,2800
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1509,0.81,146.6,98.4,0.0,154,1628,1.08,2.47,111.18,0.703,4,0.076,0.042,3079,3549,2201
$GC,1645,0.81,146.6,91.3,7.7,167,1651,0.00,2.33,0.00,0.000,6,0.000,0.028,3089,2148,2200
$GC,1974,0.81,146.6,63.5,8.6,198,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2148,2199
$GC,2300,0.81,146.6,36.4,8.0,229,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2148,2199
$GC,2491,0.81,146.6,22.1,7.3,247,2495,0.00,2.33,0.00,0.000,4,0.000,0.044,3089,3555,2199
$GC,2526,0.81,146.6,19.4,8.1,250,2532,0.00,2.25,0.00,0.000,6,0.000,0.029,3097,2137,2199
$GC,2601,0.81,146.6,13.7,7.4,263,2607,0.00,2.22,0.00,0.000,4,0.000,0.040,3106,749,2199
$GC,2626,0.81,146.6,11.8,7.4,267,2632,0.00,2.25,0.00,0.000,6,0.000,0.031,3106,2156,2199
$GC,2701,0.81,146.6,5.7,7.9,280,2708,0.00,2.28,0.00,0.000,4,0.000,0.044,3106,3552,2199
$GC,2720,0.81,146.6,4.2,8.0,283,2727,0.12,2.22,0.00,0.000,6,0.133,0.028,3082,2138,2199
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.4,1.007310
$STATE,2806,end surface coast,CONTROL_FINISHED_OK
$STATE,2806,begin surface
$SM_CCo,2827,96.62,0.676,0,0,1372,350.04
$SM_GC,1.29,0.00,0.00,96.62,0.000,0.000,0.676,11,2274,1372,-8.78,0.68,350.04
$IRIDIUM_FIX,4748.51,-12229.01,240907,232350
$TT8_MAMPS,0.026845
$HUMID,1888
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.3,30.0
$24V_AH,24.5,43.746
$10V_AH,10.7,22.570
$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,20.800,32.225,222.775,96.625,0.000,25.100,13.173,105.590,1.250,0.000,0.000,13.333,505.634,1380.794,385.187,623.937,301.570,33.328,714.361,0.000,637.731,0.000,7.036
$DEVICE_MAMPS,208.624,131.157,749.359,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,212.181,236.973,502.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15972,298
$CFSIZE,260165632,244363264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,213407,4807.583,-12223.465,12,2.0,23,18.3