version: 66.03
glider: 128
mission: 2
dive: 507
start: 9 26 107 7 9 10
data:
$ID,128
$MISSION,2
$DIVE,507
$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,60
$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,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,-71031.289
$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
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,50
$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,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
$GPS1,070403,4805.677,-12221.513,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.9
$GPS2,070809,4805.693,-12221.524,10,1.4,10,18.3
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,0.142
$KALMAN_X,-19815.1,77.1,92.8,22152.7,-180.9
$KALMAN_Y,-13317.2,-159.0,-209.9,10043.3,132.5
$MHEAD_RNG_PITCHd_Wd,313.0,5255,-11.3,-5.278
$D_GRID,110
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.81,-146.6,0.0,0.0,0,107,0.00,0.00,-75.72,0.000,2,0.000,0.000,5,2263,3265
$GC,111,-0.81,-146.6,3.3,-2.9,14,130,10.38,2.33,-2.80,0.000,4,0.209,0.059,2543,3641,3400
$GC,430,-0.81,-146.6,30.5,-6.8,57,434,0.00,2.22,0.00,0.000,6,0.000,0.027,2543,2229,3403
$GC,628,-0.81,-146.6,43.1,-6.3,75,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2227,3402
$GC,819,-0.81,-146.6,56.0,-6.8,93,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2227,3403
$GC,1138,-0.81,-146.6,77.0,-6.6,123,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2227,3403
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1429,-0.28,0.0,95.2,6.3,150,1546,0.57,0.00,111.53,0.755,6,0.109,0.000,2726,2158,2799
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1551,0.81,146.6,97.6,0.0,162,1666,1.05,0.00,111.00,0.696,6,0.077,0.000,3074,2159,2202
$GC,1984,0.81,146.6,67.0,8.1,203,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2159,2199
$GC,2302,0.81,146.6,41.6,7.7,233,2306,0.00,2.28,0.00,0.000,4,0.000,0.044,3074,3537,2200
$GC,2336,0.81,146.6,38.7,8.5,236,2340,0.00,2.22,0.00,0.000,6,0.000,0.029,3084,2144,2199
$GC,2535,0.81,146.6,23.0,8.0,254,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2144,2199
$GC,2734,0.81,146.6,8.3,7.3,286,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2144,2198
$GC,2809,0.81,146.6,3.9,5.8,299,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2144,2199
$STATE,2859,end climb,SURFACE_DEPTH_REACHED
$STATE,2859,begin surface coast
$FINISH,0.4,1.000710
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2924,begin surface
$SM_CCo,2945,101.72,0.681,0,0,1372,350.04
$SM_GC,1.19,0.00,0.00,101.72,0.000,0.000,0.681,11,2251,1372,-8.78,0.00,350.04
$IRIDIUM_FIX,4748.51,-12142.57,260907,101046
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.6,43.2
$24V_AH,24.5,46.408
$10V_AH,10.7,24.052
$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,20.725,9.250,222.525,101.725,0.000,30.259,13.161,96.888,0.500,0.000,0.000,12.223,524.964,1508.999,356.012,633.569,290.811,33.327,674.846,0.000,651.283,0.000,2.513
$DEVICE_MAMPS,209.391,87.438,754.728,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.820,252.726,537.971,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15937,319
$CFSIZE,260165632,243421184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,080107,4806.000,-12221.875,31,0.9,31,18.3