version: 66.03
glider: 128
mission: 2
dive: 516
start: 9 26 107 15 37 44
data:
$ID,128
$MISSION,2
$DIVE,516
$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,-71204.984
$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,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
$GPS1,153209,4807.627,-12223.618,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.2
$GPS2,153644,4807.625,-12223.658,32,1.8,32,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.076
$KALMAN_X,-21369.1,132.7,45.6,21059.3,-201.1
$KALMAN_Y,-13912.2,111.3,-101.5,13840.7,-193.4
$MHEAD_RNG_PITCHd_Wd,99.5,5869,-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,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,-75.53,0.000,2,0.000,0.000,12,2271,3263
$GC,111,-0.81,-146.6,3.3,-2.9,14,130,10.15,2.35,-2.70,0.000,4,0.202,0.048,2552,840,3399
$GC,250,-0.81,-146.6,18.7,-6.9,38,256,0.00,2.28,0.00,0.000,6,0.000,0.031,2551,2247,3401
$GC,323,-0.81,-146.6,23.3,-6.1,46,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2247,3401
$GC,514,-0.81,-146.6,35.8,-6.5,64,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2247,3401
$GC,705,-0.81,-146.6,47.6,-6.3,82,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2247,3401
$GC,896,-0.81,-146.6,59.5,-6.0,100,900,0.00,2.30,0.00,0.000,4,0.000,0.046,2544,3653,3402
$GC,925,-0.81,-146.6,61.3,-6.4,102,929,0.00,2.22,0.00,0.000,6,0.000,0.027,2544,2224,3401
$GC,1250,-0.81,-146.6,81.6,-6.2,132,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2220,3401
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1478,-0.28,0.0,95.5,6.4,153,1595,0.57,0.00,111.43,0.753,6,0.110,0.000,2726,2220,2799
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1599,0.81,146.6,97.8,0.0,165,1716,1.08,0.00,111.20,0.690,6,0.077,0.000,3079,2219,2201
$GC,2035,0.81,146.6,66.3,8.5,207,2039,0.00,2.38,0.00,0.000,4,0.000,0.039,3087,764,2199
$GC,2069,0.81,146.6,63.4,7.9,210,2073,0.00,2.25,0.00,0.000,6,0.000,0.031,3087,2156,2199
$GC,2398,0.81,146.6,36.4,8.3,240,2402,0.00,2.30,0.00,0.000,4,0.000,0.044,3087,3554,2199
$GC,2431,0.81,146.6,33.2,8.9,242,2437,0.00,2.20,0.00,0.000,6,0.000,0.028,3095,2169,2199
$GC,2631,0.81,146.6,16.7,8.0,264,2638,0.00,2.30,0.00,0.000,4,0.000,0.043,3095,3561,2199
$GC,2656,0.81,146.6,14.6,8.2,268,2663,0.00,2.28,0.00,0.000,6,0.000,0.028,3104,2146,2199
$GC,2732,0.81,146.6,8.6,7.7,281,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2146,2199
$GC,2809,0.84,173.8,4.5,4.5,294,2838,0.00,2.30,20.65,0.804,4,0.000,0.039,3111,755,2090
$STATE,2865,end climb,SURFACE_DEPTH_REACHED
$STATE,2865,begin surface coast
$FINISH,0.5,1.001554
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2941,85.10,0.655,0,0,1372,350.04
$SM_GC,1.24,0.00,0.00,85.10,0.000,0.000,0.655,15,2258,1372,-8.77,0.23,350.04
$IRIDIUM_FIX,4754.94,-12220.85,260907,181821
$TT8_MAMPS,0.026078
$HUMID,1898
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,40.6
$24V_AH,24.5,47.055
$10V_AH,10.7,24.418
$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,20.650,27.625,243.275,85.100,0.000,28.523,21.826,96.083,0.500,0.000,0.000,34.349,514.290,1485.082,380.380,630.166,310.975,33.329,703.112,0.000,623.284,0.000,2.509
$DEVICE_MAMPS,202.488,48.321,803.816,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.070,242.807,528.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,313
$CFSIZE,260165632,243179520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,162925,4807.353,-12223.298,36,1.5,36,18.3