version: 66.02
glider: 128
mission: 2
dive: 303
start: 9 18 107 4 41 7
data:
$ID,128
$MISSION,2
$DIVE,303
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-66489.984
$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,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
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$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,150
$AH0_10V,100
$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
$GPS1,043521,4807.654,-12223.660,11,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.9
$GPS2,044007,4807.634,-12223.646,31,0.9,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.140
$KALMAN_X,21799.6,44.8,-157.9,-21376.1,202.5
$KALMAN_Y,12625.4,95.3,269.7,-14530.3,-167.8
$MHEAD_RNG_PITCHd_Wd,135.1,5874,-10.6,-5.026
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.77,-146.6,0.0,0.0,0,92,0.00,0.00,-65.10,0.000,2,0.000,0.000,6,2265,3179
$GC,95,-0.77,-146.6,3.1,-2.7,12,120,10.38,2.42,-4.72,0.000,4,0.212,0.067,2555,3660,3400
$GC,424,-0.77,-146.6,31.0,-7.5,57,428,0.00,2.28,0.00,0.000,6,0.000,0.029,2554,2233,3402
$GC,621,-0.77,-146.6,43.9,-6.9,75,625,0.00,2.38,0.00,0.000,4,0.000,0.054,2554,3649,3403
$GC,689,-0.77,-146.6,48.6,-7.1,81,693,0.00,2.22,0.00,0.000,6,0.000,0.029,2554,2248,3403
$GC,886,-0.77,-146.6,61.6,-6.9,99,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2248,3403
$GC,1204,-0.77,-146.6,82.1,-6.3,129,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2247,3403
$STATE,1414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1421,-0.28,0.0,95.7,6.3,149,1538,0.52,0.00,111.12,0.755,6,0.111,0.000,2723,2142,2799
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1541,0.77,146.6,98.4,0.0,161,1658,1.02,0.00,110.93,0.700,6,0.081,0.000,3057,2142,2201
$GC,1976,0.77,146.6,71.3,6.8,203,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2142,2199
$GC,2295,0.77,146.6,49.4,6.6,233,2299,0.00,2.35,0.00,0.000,4,0.000,0.051,3057,3551,2199
$GC,2329,0.77,146.6,46.9,7.4,236,2334,0.00,2.25,0.00,0.000,6,0.000,0.034,3066,2160,2198
$GC,2527,0.77,146.6,33.3,6.9,254,2531,0.00,2.33,0.00,0.000,4,0.000,0.048,3071,741,2198
$GC,2548,0.77,146.6,31.9,6.5,255,2555,0.00,2.30,0.00,0.000,6,0.000,0.038,3071,2140,2198
$GC,2747,0.77,146.6,19.1,6.5,275,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2140,2198
$GC,2820,0.77,146.6,14.4,6.2,288,2827,0.00,2.35,0.00,0.000,4,0.000,0.052,3071,3561,2198
$GC,2856,0.77,146.6,11.9,6.9,294,2862,0.00,2.28,0.00,0.000,6,0.000,0.034,3079,2142,2198
$GC,2930,0.77,146.6,6.9,6.5,307,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2142,2198
$GC,3004,0.77,146.6,3.1,5.3,320,3010,0.00,2.28,0.00,0.000,4,0.000,0.048,3080,743,2198
$GC,3045,0.85,215.3,2.0,2.9,327,3053,0.00,2.28,3.10,0.444,2,0.000,0.038,3079,2151,2184
$STATE,3054,end climb,SURFACE_DEPTH_REACHED
$STATE,3054,begin surface coast
$FINISH,0.4,1.001315
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3162,73.22,0.700,0,0,1576,300.00
$SM_GC,1.36,0.00,0.00,73.22,0.000,0.000,0.700,10,2258,1576,-8.78,0.25,300.00
$IRIDIUM_FIX,4748.51,-12221.84,180907,070702
$TT8_MAMPS,0.026845
$HUMID,1863
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,41.3
$24V_AH,24.5,31.826
$10V_AH,10.7,15.714
$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,20.550,27.975,225.150,73.225,0.000,38.237,42.522,96.581,0.250,0.000,0.000,32.953,572.295,1613.062,356.773,701.202,300.285,33.325,700.457,0.000,697.205,0.000,2.510
$DEVICE_MAMPS,211.692,66.729,754.728,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.663,271.896,580.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15940,344
$CFSIZE,260165632,249208832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,053611,4807.322,-12223.328,11,2.5,31,18.3