version: 66.03
glider: 128
mission: 2
dive: 482
start: 9 25 107 7 53 22
data:
$ID,128
$MISSION,2
$DIVE,482
$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,-70534.492
$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,39
$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
$GPS1,074803,4805.334,-12221.313,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.3
$GPS2,075223,4805.341,-12221.315,13,2.6,32,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,0.154
$KALMAN_X,-16815.3,-66.6,82.6,19564.9,-204.8
$KALMAN_Y,-11670.0,-153.8,-26.8,7557.8,19.0
$MHEAD_RNG_PITCHd_Wd,323.6,5938,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.81,-146.6,0.0,0.0,0,112,0.00,0.00,-80.90,0.000,2,0.000,0.000,7,2256,3379
$GC,116,-0.81,-146.6,3.4,-3.1,15,136,10.32,2.38,-0.40,0.000,4,0.209,0.058,2544,3649,3402
$GC,441,-0.81,-146.6,32.3,-7.2,56,447,0.00,2.22,0.00,0.000,6,0.000,0.028,2544,2232,3403
$GC,639,-0.81,-146.6,45.6,-6.9,75,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2230,3404
$GC,830,-0.81,-146.6,58.0,-6.2,93,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2230,3403
$GC,1149,-0.81,-146.6,77.9,-6.0,123,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2230,3404
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1432,-0.28,0.0,95.6,6.5,149,1549,0.55,0.00,111.45,0.750,6,0.108,0.000,2721,2151,2800
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1550,begin climb
$GC,1553,0.81,146.6,98.1,0.0,161,1670,1.08,0.00,111.03,0.702,6,0.077,0.000,3073,2150,2202
$GC,1989,0.81,146.6,67.5,7.4,203,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2150,2200
$GC,2307,0.81,146.6,43.4,8.6,233,2311,0.00,2.30,0.00,0.000,4,0.000,0.044,3073,3548,2200
$GC,2346,0.81,146.6,40.0,8.5,236,2352,0.00,2.22,0.00,0.000,6,0.000,0.029,3083,2149,2199
$GC,2544,0.81,146.6,26.0,7.3,255,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2149,2200
$GC,2742,0.81,146.6,10.5,7.0,284,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2149,2200
$GC,2818,0.81,146.6,5.8,6.0,297,2825,0.00,2.25,0.00,0.000,4,0.000,0.039,3090,748,2199
$STATE,2903,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,1.4,1.024812
$STATE,2921,end surface coast,CONTROL_FINISHED_OK
$STATE,2922,begin surface
$SM_CCo,2945,90.82,0.677,0,0,1372,350.04
$SM_GC,1.25,0.00,0.00,90.82,0.000,0.000,0.677,12,2257,1372,-8.78,0.20,350.04
$IRIDIUM_FIX,4748.51,-12220.12,250907,101033
$TT8_MAMPS,0.026845
$HUMID,1904
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.7,999.0
$24V_AH,24.5,44.612
$10V_AH,10.7,23.049
$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,20.825,13.900,222.475,90.825,0.000,23.934,12.892,96.498,1.500,0.000,0.000,35.334,520.415,1504.855,367.579,644.316,278.734,33.326,675.689,0.000,633.824,0.000,11.253
$DEVICE_MAMPS,208.624,71.331,750.126,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.379,248.335,531.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16008,315
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,084507,4805.676,-12221.571,30,1.4,30,18.3