version: 66.03
glider: 128
mission: 2
dive: 945
start: 10 12 107 7 40 35
data:
$ID,128
$MISSION,2
$DIVE,945
$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,53
$T_MISSION,65
$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,563.2088
$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,-88970.055
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2500
$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
$GPS1,072035,4806.181,-12222.491,29,2.9,49,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-72.2
$GPS2,073934,4805.995,-12222.255,63,2.6,82,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.211
$KALMAN_X,-10169.0,204.2,22.5,10643.9,180.5
$KALMAN_Y,4909.9,-467.6,-36.5,-5164.7,-350.8
$MHEAD_RNG_PITCHd_Wd,314.8,2076,-14.1,-7.547
$D_GRID,106
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,57,0.00,0.00,-21.25,0.000,2,0.000,0.000,24,2367,801
$GC,63,-0.96,-146.6,3.0,-1.4,4,141,9.88,0.00,-64.07,0.000,6,0.200,0.000,2467,2368,3099
$GC,212,-0.96,-146.6,13.4,-8.8,30,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2368,3102
$GC,289,-0.96,-146.6,20.8,-10.1,43,296,0.00,2.28,0.00,0.000,4,0.000,0.046,2458,3746,3102
$GC,338,-0.96,-146.6,25.8,-10.1,51,345,0.00,2.22,0.00,0.000,6,0.000,0.026,2458,2330,3102
$GC,554,-0.96,-146.6,47.0,-10.2,88,560,0.00,2.15,0.00,0.000,4,0.000,0.033,2458,974,3102
$GC,595,-0.96,-146.6,51.7,-10.9,94,602,0.00,2.20,0.00,0.000,6,0.000,0.034,2454,2343,3102
$GC,922,-0.96,-146.6,86.4,-11.2,125,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2344,3102
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1110,-0.28,0.0,106.4,11.0,142,1228,0.73,0.00,114.10,0.737,6,0.106,0.000,2684,2154,2499
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1233,0.96,146.6,111.6,0.0,154,1355,1.20,2.35,112.00,0.686,4,0.074,0.037,3091,765,1901
$GC,1387,0.96,147.2,105.5,7.5,168,1393,0.00,2.28,0.00,0.000,6,0.000,0.031,3091,2156,1900
$GC,1718,0.96,147.2,79.1,7.7,199,1722,0.00,2.30,0.00,0.000,4,0.000,0.044,3091,3561,1899
$GC,1758,0.96,147.2,75.1,8.4,202,1765,0.00,2.20,0.00,0.000,6,0.000,0.027,3102,2164,1899
$GC,2091,0.96,147.2,48.4,7.8,234,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2164,1899
$GC,2308,0.97,148.5,32.1,7.5,271,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2164,1899
$GC,2524,0.99,171.4,16.1,6.8,308,2547,0.00,0.00,20.58,0.777,6,0.000,0.000,3102,2164,1800
$GC,2618,1.02,194.3,9.6,6.8,324,2642,0.00,2.42,18.95,0.699,4,0.000,0.043,3101,3561,1708
$GC,2719,1.31,431.0,7.0,-0.7,341,2911,0.28,2.25,179.35,0.641,6,0.045,0.026,3224,2141,741
$GC,2983,1.59,652.9,5.3,-0.1,387,3094,0.17,2.30,104.22,0.633,4,0.054,0.037,3311,770,202
$STATE,3098,end climb,SURFACE_DEPTH_REACHED
$STATE,3099,begin surface coast
$FINISH,1.5,1.009011
$STATE,3141,end surface coast,CONTROL_FINISHED_OK
$STATE,3141,begin surface
$SM_CCo,3231,0.00,0.000,0,0,194,565.66
$SM_GC,2.43,9.52,0.00,0.00,0.043,0.000,0.000,22,2353,194,-8.56,0.08,565.66
$IRIDIUM_FIX,4748.51,-12217.40,121007,111153
$TT8_MAMPS,0.026078
$HUMID,1850
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,42.1
$24V_AH,24.0,89.459
$10V_AH,10.7,41.998
$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,21.775,27.850,549.200,0.000,0.000,134.416,550.289,0.000,0.500,0.000,0.000,84.881,570.901,1472.577,486.289,881.760,967.068,33.337,969.082,0.000,826.719,0.000,5.473
$DEVICE_MAMPS,200.187,46.020,776.971,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,298.172,310.279,700.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19097,415
$CFSIZE,260165632,232177664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121007,083558,4806.143,-12222.533,33,3.1,52,18.3