version: 66.02
glider: 128
mission: 2
dive: 311
start: 9 18 107 12 33 28
data:
$ID,128
$MISSION,2
$DIVE,311
$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,-66644.07
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,122807,4805.013,-12220.961,33,1.3,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.9
$GPS2,123227,4805.010,-12220.969,14,1.3,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.100
$KALMAN_X,23162.1,8.9,92.1,-19645.3,126.4
$KALMAN_Y,12861.1,-310.1,-45.0,-18906.9,111.7
$MHEAD_RNG_PITCHd_Wd,291.3,6686,-10.6,-5.026
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,0.0,0.0,0,93,0.00,0.00,-65.30,0.000,2,0.000,0.000,6,2264,3176
$GC,96,-0.77,-146.6,3.1,-2.6,12,120,10.30,2.38,-4.80,0.000,4,0.209,0.067,2557,3639,3400
$GC,417,-0.77,-146.6,29.6,-6.3,56,424,0.00,2.25,0.00,0.000,6,0.000,0.030,2557,2231,3402
$GC,615,-0.77,-146.6,41.7,-6.2,75,619,0.00,2.22,0.00,0.000,4,0.000,0.043,2557,849,3402
$GC,653,-0.77,-146.6,44.2,-6.2,78,660,0.00,2.30,0.00,0.000,6,0.000,0.040,2555,2242,3403
$GC,851,-0.77,-146.6,55.1,-5.6,97,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2243,3402
$GC,1171,-0.77,-146.6,74.0,-6.0,127,1175,0.00,2.35,0.00,0.000,4,0.000,0.055,2552,3658,3402
$GC,1203,-0.77,-146.6,76.2,-6.7,129,1210,0.00,2.25,0.00,0.000,6,0.000,0.029,2552,2251,3403
$STATE,1515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1515,begin apogee
$GC,1523,-0.28,0.0,95.5,5.6,159,1640,0.52,0.00,111.07,0.759,6,0.110,0.000,2721,2128,2799
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1643,0.77,146.6,97.9,0.0,171,1761,1.05,2.40,110.40,0.703,4,0.081,0.044,3071,768,2201
$GC,1790,0.77,146.6,90.5,7.5,184,1796,0.00,2.38,0.00,0.000,6,0.000,0.039,3071,2159,2201
$GC,2116,0.77,146.6,64.7,7.8,215,2120,0.00,2.35,0.00,0.000,4,0.000,0.053,3071,3561,2199
$GC,2156,0.77,146.6,61.2,9.4,218,2160,0.00,2.28,0.00,0.000,6,0.000,0.033,3081,2166,2200
$GC,2482,0.77,146.6,34.8,7.6,248,2486,0.00,2.33,0.00,0.000,4,0.000,0.047,3082,744,2199
$GC,2503,0.77,146.6,33.0,7.3,249,2510,0.00,2.33,0.00,0.000,6,0.000,0.039,3082,2162,2199
$GC,2701,0.77,146.6,20.0,6.0,268,2707,0.00,2.33,0.00,0.000,4,0.000,0.053,3082,3561,2198
$GC,2742,0.77,146.6,17.3,6.3,275,2748,0.00,2.28,0.00,0.000,6,0.000,0.035,3091,2149,2199
$GC,2817,0.77,146.6,12.7,6.1,288,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2149,2199
$GC,2891,0.77,146.6,8.1,6.2,301,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2149,2199
$GC,2965,0.77,146.6,2.8,6.9,314,2971,0.00,2.38,0.00,0.000,4,0.000,0.054,3092,3567,2198
$STATE,2981,end climb,SURFACE_DEPTH_REACHED
$STATE,2981,begin surface coast
$FINISH,0.7,1.024608
$STATE,3010,end surface coast,CONTROL_FINISHED_OK
$STATE,3010,begin surface
$SM_CCo,3030,77.50,0.694,0,0,1576,300.00
$SM_GC,1.34,0.00,0.00,77.50,0.000,0.000,0.694,5,2230,1576,-8.80,-0.57,300.00
$IRIDIUM_FIX,4748.51,-12224.57,180907,151521
$TT8_MAMPS,0.026078
$HUMID,1859
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,48.1
$24V_AH,24.5,32.383
$10V_AH,10.7,16.049
$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,20.525,37.100,221.475,77.500,0.000,39.626,36.683,90.436,0.500,0.000,0.000,15.954,545.033,1525.752,348.960,674.329,297.853,33.325,707.382,0.000,688.970,0.000,2.521
$DEVICE_MAMPS,208.624,66.729,759.330,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.609,249.999,543.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15942,322
$CFSIZE,260165632,248991744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180907,132620,4805.332,-12221.289,9,1.9,27,18.3