version: 66.03
glider: 128
mission: 2
dive: 1043
start: 10 16 107 15 40 22
data:
$ID,128
$MISSION,2
$DIVE,1043
$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,-94800.703
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,153039,4807.458,-12223.506,9,1.5,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-67.1
$GPS2,153922,4807.620,-12223.603,14,2.7,33,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.204
$KALMAN_X,-20502.0,83.1,-178.1,19637.6,-304.5
$KALMAN_Y,2016.6,-201.2,159.2,267.1,524.3
$MHEAD_RNG_PITCHd_Wd,131.3,1369,-14.1,-7.547
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,35,-0.96,-146.6,0.0,0.0,0,91,0.00,0.00,-53.42,0.000,2,0.000,0.000,22,2359,1697
$GC,97,-0.96,-146.6,3.2,-1.9,10,154,9.85,2.35,-37.58,0.000,4,0.197,0.045,2463,941,3100
$GC,170,-0.96,-146.6,9.1,-6.4,22,177,0.00,2.30,0.00,0.000,6,0.000,0.033,2457,2343,3101
$GC,248,-0.96,-146.6,16.4,-10.3,35,254,0.00,2.33,0.00,0.000,4,0.000,0.046,2447,3749,3102
$GC,326,-0.96,-146.6,24.8,-10.9,48,332,0.00,2.22,0.00,0.000,6,0.000,0.026,2447,2313,3102
$GC,541,-0.96,-146.6,47.3,-10.8,85,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2313,3103
$GC,748,-0.96,-146.6,69.8,-11.2,106,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2313,3103
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1072,-0.28,0.0,105.4,11.0,136,1190,0.75,0.00,114.53,0.741,6,0.110,0.000,2681,2147,2500
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1196,0.96,146.6,110.8,0.0,148,1316,1.23,2.33,112.30,0.692,4,0.074,0.037,3097,766,1900
$GC,1344,0.98,155.6,105.1,7.2,161,1359,0.00,2.28,8.80,0.667,6,0.000,0.030,3097,2158,1864
$GC,1687,0.98,155.6,75.3,8.5,193,1691,0.00,2.30,0.00,0.000,4,0.000,0.043,3097,3554,1863
$GC,1753,0.98,155.6,69.3,9.2,198,1757,0.00,2.20,0.00,0.000,6,0.000,0.027,3107,2154,1863
$GC,2089,0.98,155.6,39.7,8.8,238,2096,0.00,2.25,0.00,0.000,4,0.000,0.038,3116,755,1863
$GC,2117,0.98,155.6,37.4,8.4,242,2123,0.00,2.25,0.00,0.000,6,0.000,0.031,3116,2163,1863
$GC,2332,0.98,155.6,18.8,8.6,279,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2163,1863
$GC,2409,0.98,155.6,12.5,7.9,292,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2163,1863
$GC,2486,1.02,188.9,7.0,6.4,305,2515,0.00,0.00,26.33,0.752,6,0.000,0.000,3116,2163,1729
$GC,2586,1.29,410.0,4.8,-0.1,322,2768,0.20,2.40,167.30,0.649,4,0.051,0.043,3212,3549,825
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,1.4,1.021934
$STATE,2830,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2859,80.78,0.642,0,0,256,550.21
$SM_GC,2.27,0.00,0.00,80.78,0.000,0.000,0.642,16,2339,256,-8.64,-0.31,550.21
$IRIDIUM_FIX,4751.72,-12220.85,161007,191902
$TT8_MAMPS,0.026078
$HUMID,1857
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.1,34.5
$24V_AH,23.8,100.631
$10V_AH,10.7,47.052
$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,21.250,27.350,429.250,80.775,0.000,52.002,24.914,214.423,1.500,0.000,0.000,35.802,531.280,1125.267,491.153,750.522,578.338,33.342,919.263,0.000,741.972,0.000,8.598
$DEVICE_MAMPS,197.119,46.020,751.660,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.741,273.388,615.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19144,365
$CFSIZE,260165632,229404672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161007,163038,4807.444,-12223.553,30,1.7,30,18.3