version: 66.03
glider: 128
mission: 2
dive: 896
start: 10 10 107 8 53 23
data:
$ID,128
$MISSION,2
$DIVE,896
$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,30
$T_MISSION,40
$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,30
$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,514.1488
$N_FILEKB,8
$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,-87694.07
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2780
$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,53
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2300
$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
$GPS1,084705,4806.709,-12222.716,10,3.6,29,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-68.0
$GPS2,085221,4806.778,-12222.781,13,1.7,13,18.3
$SPEED_LIMITS,0.231,0.284
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,-0.240
$KALMAN_X,-1682.7,-494.2,-146.3,2382.3,-13.1
$KALMAN_Y,2354.8,689.0,245.3,-2610.5,40.7
$MHEAD_RNG_PITCHd_Wd,129.4,1735,-23.0,-13.333
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.46,-146.6,0.0,0.0,0,83,0.00,0.00,-48.03,0.000,2,0.000,0.000,17,2362,1527
$GC,88,-1.46,-146.6,3.2,-2.0,9,140,9.30,2.33,-36.20,0.000,4,0.204,0.057,2296,3750,2898
$GC,160,-1.46,-146.6,11.4,-15.8,21,166,0.00,2.22,0.00,0.000,6,0.000,0.026,2297,2322,2899
$GC,238,-1.46,-146.6,24.4,-16.6,34,244,0.00,2.15,0.00,0.000,4,0.000,0.033,2297,975,2899
$GC,275,-1.46,-146.6,30.5,-15.5,40,281,0.00,2.22,0.00,0.000,6,0.000,0.034,2288,2348,2899
$GC,487,-1.46,-146.6,65.0,-16.6,70,491,0.00,2.20,0.00,0.000,4,0.000,0.033,2288,968,2899
$GC,596,-1.46,-146.6,83.6,-16.5,79,603,0.12,2.22,0.00,0.000,6,0.159,0.034,2308,2355,2899
$STATE,727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,727,begin apogee
$GC,738,-0.28,0.0,105.6,16.1,92,856,1.25,0.00,113.12,0.727,6,0.130,0.000,2681,2197,2300
$STATE,857,end apogee,CONTROL_FINISHED_OK
$STATE,857,begin climb
$GC,862,1.46,146.6,111.3,0.0,104,983,1.73,2.33,112.32,0.686,4,0.077,0.035,3256,812,1701
$GC,998,1.46,146.6,99.3,14.0,117,1002,0.00,2.30,0.00,0.000,6,0.000,0.031,3256,2198,1701
$GC,1331,1.46,146.6,47.0,15.8,148,1338,0.00,2.25,0.00,0.000,4,0.000,0.037,3265,814,1700
$GC,1403,1.46,146.6,35.3,15.2,160,1409,0.00,2.25,0.00,0.000,6,0.000,0.031,3265,2215,1700
$GC,1619,1.50,183.8,8.1,11.1,197,1653,0.00,2.35,28.88,0.716,4,0.000,0.035,3275,817,1550
$GC,1702,1.81,435.3,6.1,-2.0,211,1887,0.25,2.22,174.52,0.636,2,0.054,0.031,3372,2201,579
$STATE,1888,end climb,SURFACE_DEPTH_REACHED
$STATE,1888,begin surface coast
$FINISH,1.3,1.004153
$STATE,1927,end surface coast,CONTROL_FINISHED_OK
$STATE,1927,begin surface
$SM_CCo,1955,56.97,0.632,0,0,204,514.15
$SM_GC,2.57,0.00,0.00,56.97,0.000,0.000,0.632,22,2351,204,-8.62,0.03,514.15
$IRIDIUM_FIX,4748.51,-12224.57,101007,121214
$TT8_MAMPS,0.026078
$HUMID,1829
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,42.1
$24V_AH,24.1,84.032
$10V_AH,10.7,39.675
$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,22.500,27.475,428.850,56.975,0.000,26.002,38.355,121.044,0.500,0.000,0.000,14.727,362.373,623.154,460.038,510.761,390.602,33.322,797.241,0.000,519.898,0.000,2.514
$DEVICE_MAMPS,204.022,56.758,727.116,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.923,180.223,423.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12803,251
$CFSIZE,260165632,233566208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,092808,4806.658,-12222.779,12,1.5,30,18.3