version: 66.03
glider: 128
mission: 2
dive: 618
start: 9 30 107 1 54 9
data:
$ID,128
$MISSION,2
$DIVE,618
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$T_MISSION,80
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,-73636.203
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,2350
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$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,0.0001162386
$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
$GPS1,014838,4806.770,-12223.006,40,1.4,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-66.1
$GPS2,015309,4806.841,-12223.055,11,1.6,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.188
$KALMAN_X,-25380.1,-147.3,-190.4,26334.5,-211.6
$KALMAN_Y,-17074.9,213.2,-9.7,15355.4,426.7
$MHEAD_RNG_PITCHd_Wd,131.7,4253,-11.0,-5.970
$D_GRID,101
$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,-0.79,-146.6,0.0,0.0,0,79,0.00,0.00,-48.17,0.000,2,0.000,0.000,12,2328,2174
$GC,84,-0.79,-146.6,3.0,-1.2,9,131,9.90,2.28,-31.42,0.000,4,0.201,0.046,2480,962,2999
$GC,183,-0.79,-146.6,9.1,-8.1,26,190,0.00,2.30,0.00,0.000,6,0.000,0.033,2474,2357,3001
$GC,260,-0.79,-146.6,15.3,-8.4,39,266,0.00,2.33,0.00,0.000,4,0.000,0.049,2464,3752,3001
$GC,285,-0.79,-146.6,17.6,-8.8,43,292,0.00,2.20,0.00,0.000,6,0.000,0.026,2464,2339,3001
$GC,359,-0.79,-146.6,24.3,-9.2,52,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2339,3002
$GC,550,-0.79,-146.6,43.3,-9.8,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2339,3002
$GC,741,-0.79,-146.6,62.8,-10.0,88,745,0.00,2.38,0.00,0.000,4,0.000,0.049,2456,3756,3003
$GC,782,-0.79,-146.6,67.0,-10.4,91,786,0.00,2.17,0.00,0.000,6,0.000,0.026,2456,2352,3003
$GC,1108,-0.79,-146.6,99.1,-9.5,121,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2351,3003
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1135,-0.28,0.0,101.2,10.0,123,1252,0.60,0.00,111.93,0.739,6,0.113,0.000,2642,2200,2399
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1256,0.79,146.6,106.3,0.0,135,1372,1.08,0.00,111.55,0.692,6,0.085,0.000,2989,2200,1801
$GC,1690,0.81,162.2,83.7,5.5,176,1713,0.00,2.40,13.55,0.791,4,0.000,0.044,2988,3600,1737
$GC,1771,0.81,162.2,78.8,6.6,183,1775,0.00,2.22,0.00,0.000,6,0.000,0.027,2997,2200,1736
$GC,2105,0.85,193.9,61.5,5.1,214,2138,0.00,2.40,25.12,0.753,4,0.000,0.045,2997,3601,1607
$GC,2179,0.85,197.4,57.2,5.9,220,2188,0.00,2.25,4.57,0.583,6,0.000,0.027,3006,2194,1594
$GC,2515,0.91,246.9,41.4,4.6,252,2560,0.00,2.45,38.67,0.723,4,0.000,0.045,3006,3603,1391
$GC,2624,0.93,261.9,35.9,5.6,261,2642,0.00,2.25,12.57,0.706,6,0.000,0.027,3009,2195,1332
$GC,2834,0.93,261.9,23.6,6.8,281,2838,0.00,2.35,0.00,0.000,4,0.000,0.046,3009,3605,1329
$GC,2892,0.93,261.9,19.3,9.2,286,2898,0.00,2.22,0.00,0.000,6,0.000,0.027,3015,2200,1329
$GC,2968,0.93,261.9,13.4,7.0,299,2974,0.00,2.25,0.00,0.000,4,0.000,0.036,3020,804,1329
$GC,3094,0.93,261.9,3.6,6.8,321,3101,0.00,2.25,0.00,0.000,6,0.000,0.031,3020,2206,1328
$STATE,3116,end climb,SURFACE_DEPTH_REACHED
$STATE,3116,begin surface coast
$FINISH,1.6,1.004042
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3173,45.62,0.694,0,0,972,350.04
$SM_GC,2.45,0.00,0.00,45.62,0.000,0.000,0.694,6,2357,972,-8.54,0.20,350.04
$IRIDIUM_FIX,4748.51,-12221.84,300907,040426
$TT8_MAMPS,0.026845
$HUMID,1909
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,76.4,51.5
$24V_AH,24.4,55.437
$10V_AH,10.7,28.046
$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,20.125,37.100,317.975,45.625,0.000,31.348,20.305,101.902,0.500,0.000,0.000,12.607,546.130,1529.031,391.417,686.889,355.599,33.351,771.907,0.000,698.620,0.000,2.521
$DEVICE_MAMPS,200.954,49.088,790.777,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.396,257.682,558.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15963,331
$CFSIZE,260165632,240697344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,024839,4806.498,-12222.834,10,1.3,10,18.3