version: 66.02
glider: 128
mission: 2
dive: 74
start: 9 8 107 6 54 16
data:
$ID,128
$MISSION,2
$DIVE,74
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,-60642.27
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,2800
$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,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$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,48
$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
$GPS1,064908,4805.098,-12220.960,6,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.5
$GPS2,065315,4805.084,-12220.951,12,1.8,12,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.138
$KALMAN_X,6221.3,28.5,115.6,-2726.7,20.7
$KALMAN_Y,1645.4,60.1,-22.5,-7949.0,-18.7
$MHEAD_RNG_PITCHd_Wd,306.1,6585,-13.2,-6.000
$D_GRID,108
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,88,0.00,0.00,-66.38,0.000,2,0.000,0.000,3,2160,3050
$GC,90,-0.78,-146.6,3.1,-3.2,12,115,10.52,2.38,-7.85,0.000,4,0.216,0.057,2563,745,3400
$GC,173,-0.78,-146.6,12.0,-7.8,26,179,0.00,2.33,0.00,0.000,6,0.000,0.038,2563,2154,3402
$GC,246,-0.78,-146.6,17.1,-6.8,39,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2155,3402
$GC,323,-0.78,-146.6,22.4,-7.0,50,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2155,3403
$GC,514,-0.78,-146.6,34.6,-6.2,68,518,0.00,2.35,0.00,0.000,4,0.000,0.055,2563,3564,3403
$GC,558,-0.78,-146.6,37.3,-6.6,72,562,0.00,2.28,0.00,0.000,6,0.000,0.029,2562,2138,3402
$GC,754,-0.78,-146.6,49.6,-6.4,90,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2137,3403
$GC,945,-0.78,-146.6,62.0,-6.8,108,949,0.00,2.38,0.00,0.000,4,0.000,0.053,2562,3559,3403
$GC,1005,-0.78,-146.6,66.1,-7.1,113,1013,0.00,2.25,0.00,0.000,6,0.000,0.029,2562,2156,3403
$GC,1333,-0.78,-146.6,87.3,-6.4,144,1337,0.00,2.35,0.00,0.000,4,0.000,0.053,2562,3567,3403
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1381,-0.23,0.0,90.3,6.1,147,1498,0.55,0.00,113.78,0.866,6,0.112,0.000,2738,2066,2800
$STATE,1499,end apogee,CONTROL_FINISHED_OK
$STATE,1499,begin climb
$GC,1501,0.78,146.6,92.9,0.0,159,1620,1.02,0.00,112.10,0.693,6,0.081,0.000,3067,2065,2201
$GC,1937,0.78,146.6,64.8,7.5,201,1941,0.00,2.40,0.00,0.000,4,0.000,0.050,3067,3487,2199
$GC,1982,0.78,146.6,61.2,8.3,205,1986,0.00,2.30,0.00,0.000,6,0.000,0.033,3070,2079,2199
$GC,2308,0.78,146.6,37.5,6.9,235,2312,0.00,2.35,0.00,0.000,4,0.000,0.050,3070,3486,2199
$GC,2339,0.78,146.6,34.8,8.2,237,2347,0.00,2.30,0.00,0.000,6,0.000,0.033,3078,2079,2198
$GC,2537,0.78,146.6,21.2,6.8,256,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2079,2198
$GC,2739,0.78,146.6,7.9,6.3,290,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2079,2198
$GC,2814,0.80,161.3,3.7,5.5,303,2831,0.00,2.38,11.12,0.810,4,0.000,0.051,3078,3492,2141
$STATE,2847,end climb,SURFACE_DEPTH_REACHED
$STATE,2847,begin surface coast
$FINISH,0.4,1.012640
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2905,88.53,0.731,0,0,1373,350.04
$SM_GC,1.28,0.00,0.00,88.53,0.000,0.000,0.731,13,2137,1373,-8.77,-0.37,350.04
$IRIDIUM_FIX,4748.51,-12217.40,080907,101039
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,52.8
$24V_AH,24.4,14.443
$10V_AH,10.8,5.492
$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,20.825,32.675,237.000,88.525,0.000,38.352,46.283,92.104,0.250,0.000,0.000,13.457,534.037,1467.859,374.097,635.927,256.430,33.354,714.338,0.000,651.990,0.000,2.523
$DEVICE_MAMPS,216.294,56.758,865.943,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.553,248.225,533.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,316
$CFSIZE,260165632,255619072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080907,074456,4805.426,-12221.160,12,1.7,13,18.3