version: 66.03
glider: 128
mission: 2
dive: 1034
start: 10 16 107 6 31 21
data:
$ID,128
$MISSION,2
$DIVE,1034
$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,550
$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,-94565.57
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,062135,4805.999,-12222.035,8,2.7,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-65.0
$GPS2,063020,4806.105,-12222.126,13,1.3,31,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.098,-0.087
$KALMAN_X,-18658.1,-522.7,-38.2,20086.2,-74.9
$KALMAN_Y,-154.3,613.5,105.4,-1129.7,10.2
$MHEAD_RNG_PITCHd_Wd,113.2,249,-27.5,-7.547
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-1.58,-41.5,0.0,0.0,0,96,0.00,0.00,-58.75,0.000,2,0.000,0.000,13,2332,1760
$GC,101,-1.63,-85.9,3.1,-2.1,11,154,9.18,2.45,-36.70,0.000,4,0.203,0.057,2241,3752,2852
$GC,192,-1.63,-85.9,9.6,-11.8,26,198,0.00,2.20,0.00,0.000,6,0.000,0.027,2241,2338,2854
$GC,269,-1.63,-85.9,20.2,-14.1,39,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2338,2855
$GC,481,-1.63,-85.9,52.5,-15.5,75,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2337,2855
$STATE,803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,804,begin apogee
$GC,816,-0.28,0.0,108.0,17.1,106,892,1.50,0.00,68.80,0.755,6,0.138,0.000,2678,2138,2499
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,899,1.63,85.9,113.2,0.0,114,974,1.85,2.42,66.93,0.699,4,0.072,0.041,3299,3560,2147
$GC,1062,1.63,85.9,102.3,11.3,128,1066,0.00,2.25,0.00,0.000,6,0.000,0.027,3309,2157,2147
$GC,1400,1.63,85.9,68.1,9.6,159,1404,0.00,2.28,0.00,0.000,4,0.000,0.038,3319,751,2146
$GC,1608,1.63,85.9,47.4,9.6,178,1614,0.00,2.25,0.00,0.000,6,0.000,0.031,3320,2154,2146
$GC,1824,1.63,85.9,27.8,8.6,215,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2154,2146
$GC,2040,1.65,95.2,11.9,6.4,252,2058,0.00,2.38,8.43,0.759,4,0.000,0.042,3319,3556,2111
$GC,2233,1.74,171.2,6.3,-1.7,285,2301,0.00,2.22,58.28,0.696,6,0.000,0.027,3331,2139,1800
$GC,2373,1.82,234.6,4.8,-0.2,309,2429,0.00,2.45,48.15,0.675,4,0.000,0.042,3330,3549,1542
$STATE,2570,end climb,NO_VERTICAL_VELOCITY
$STATE,2570,begin surface
$SM_CCo,2576,174.32,0.641,0,0,203,563.21
$SM_GC,2.26,9.60,0.00,0.00,0.044,0.000,0.000,22,2335,194,-8.57,-0.40,565.66
$IRIDIUM_FIX,4748.51,-12229.01,161007,101057
$TT8_MAMPS,0.026078
$HUMID,1873
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.4,34.6
$24V_AH,24.0,99.598
$10V_AH,10.7,46.611
$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,22.125,23.125,250.575,174.325,0.000,50.986,41.378,206.321,1.250,0.000,0.000,32.832,529.852,1126.096,466.415,720.459,563.637,33.345,837.372,0.000,712.265,0.000,11.475
$DEVICE_MAMPS,203.255,56.758,758.563,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.254,258.580,580.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16031,344
$CFSIZE,260165632,229666816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,072003,4806.018,-12221.947,10,1.9,10,18.3