version: 66.03
glider: 128
mission: 2
dive: 509
start: 9 26 107 9 4 4
data:
$ID,128
$MISSION,2
$DIVE,509
$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,-71061.695
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,085857,4806.323,-12222.285,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.6
$GPS2,090303,4806.329,-12222.283,11,1.5,11,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,0.152
$KALMAN_X,-20257.2,221.3,-19.8,21625.6,-223.4
$KALMAN_Y,-13534.5,-123.7,109.7,11085.9,75.9
$MHEAD_RNG_PITCHd_Wd,321.3,3753,-11.3,-5.278
$D_GRID,107
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-75.32,0.000,2,0.000,0.000,23,2255,3235
$GC,111,-0.81,-146.6,3.1,-2.6,14,130,10.25,2.35,-3.20,0.000,4,0.207,0.058,2545,3656,3399
$GC,434,-0.81,-146.6,31.4,-5.7,54,441,0.00,2.28,0.00,0.000,6,0.000,0.028,2545,2228,3402
$GC,632,-0.81,-146.6,44.5,-6.5,73,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2226,3402
$GC,823,-0.81,-146.6,56.5,-6.4,91,827,0.00,2.35,0.00,0.000,4,0.000,0.044,2535,3650,3402
$GC,859,-0.81,-146.6,58.9,-6.9,94,863,0.00,2.20,0.00,0.000,6,0.000,0.027,2535,2238,3402
$GC,1189,-0.81,-146.6,80.2,-6.9,124,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2236,3402
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1413,-0.28,0.0,95.4,6.8,145,1530,0.60,0.00,111.68,0.753,6,0.110,0.000,2726,2156,2800
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1534,0.81,146.6,98.2,0.0,157,1652,1.08,0.00,111.28,0.693,6,0.077,0.000,3078,2156,2201
$GC,1970,0.81,146.6,67.7,8.2,199,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2156,2199
$GC,2289,0.81,146.6,43.6,7.4,229,2293,0.00,2.30,0.00,0.000,4,0.000,0.042,3078,3553,2199
$GC,2328,0.81,146.6,40.5,7.8,232,2334,0.00,2.22,0.00,0.000,6,0.000,0.028,3087,2149,2199
$GC,2526,0.81,146.6,25.9,7.2,251,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2149,2199
$GC,2723,0.81,146.6,11.2,7.1,279,2730,0.00,2.33,0.00,0.000,4,0.000,0.043,3087,3545,2198
$GC,2760,0.81,146.6,8.5,7.4,285,2766,0.00,2.20,0.00,0.000,6,0.000,0.028,3096,2154,2199
$GC,2836,0.82,153.5,4.4,5.1,298,2849,0.00,2.25,5.82,0.683,4,0.000,0.038,3105,744,2174
$GC,2873,0.84,167.4,2.7,4.9,304,2891,0.00,2.25,10.52,0.806,6,0.000,0.031,3105,2156,2116
$STATE,2896,end climb,SURFACE_DEPTH_REACHED
$STATE,2896,begin surface coast
$FINISH,0.4,1.012056
$STATE,2948,end surface coast,CONTROL_FINISHED_OK
$STATE,2948,begin surface
$SM_CCo,2970,88.97,0.664,0,0,1373,350.04
$SM_GC,1.33,0.00,0.00,88.97,0.000,0.000,0.664,5,2265,1373,-8.80,0.42,350.04
$IRIDIUM_FIX,4742.09,-11553.65,260907,121212
$TT8_MAMPS,0.026078
$HUMID,1901
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,34.9
$24V_AH,24.5,46.557
$10V_AH,10.7,24.134
$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,20.750,22.925,239.300,88.975,0.000,24.528,18.924,95.638,1.000,0.000,0.000,13.453,524.275,1490.836,380.962,629.377,300.650,33.327,708.031,0.000,645.915,0.000,7.054
$DEVICE_MAMPS,207.090,70.564,806.117,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.449,252.140,534.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,317
$CFSIZE,260165632,243367936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,095608,4806.408,-12222.345,26,1.7,26,18.3