version: 66.03
glider: 128
mission: 2
dive: 553
start: 9 27 107 18 31 56
data:
$ID,128
$MISSION,2
$DIVE,553
$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,40
$T_MISSION,60
$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,0.0038360001
$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,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,-72071.461
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2715
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2400
$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
$GPS1,182651,4806.518,-12222.857,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.1
$GPS2,183057,4806.530,-12222.886,10,1.9,10,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,0.234
$KALMAN_X,-22147.4,108.0,103.2,22763.7,-160.5
$KALMAN_Y,-13228.5,-127.4,-183.8,11447.4,-96.7
$MHEAD_RNG_PITCHd_Wd,334.1,3052,-14.0,-7.500
$D_GRID,101
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.96,-146.6,0.0,0.0,0,99,0.00,0.00,-69.95,0.000,2,0.000,0.000,20,2362,2827
$GC,103,-0.96,-146.6,3.8,-6.7,13,123,9.55,2.33,-3.28,0.000,4,0.203,0.058,2393,3750,2999
$GC,427,-0.96,-146.6,44.5,-11.3,50,433,0.00,2.20,0.00,0.000,6,0.000,0.026,2393,2324,3002
$GC,625,-0.96,-146.6,64.8,-10.3,69,633,0.00,2.35,0.00,0.000,4,0.000,0.048,2386,3740,3002
$GC,656,-0.96,-146.6,68.2,-11.0,71,662,0.00,2.15,0.00,0.000,6,0.000,0.025,2386,2340,3002
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,862,begin apogee
$GC,870,-0.28,0.0,90.1,10.7,91,987,0.75,0.00,111.47,0.735,6,0.120,0.000,2617,2201,2399
$STATE,988,end apogee,CONTROL_FINISHED_OK
$STATE,988,begin climb
$GC,991,0.96,146.6,95.1,0.0,103,1109,1.25,0.00,111.15,0.693,6,0.088,0.000,3016,2201,1802
$GC,1428,0.98,166.8,68.8,6.8,145,1450,0.00,2.33,16.67,0.759,4,0.000,0.044,3016,3594,1719
$GC,1479,0.98,166.8,64.8,7.8,149,1485,0.00,2.22,0.00,0.000,6,0.000,0.027,3025,2207,1718
$GC,1808,0.99,171.3,40.3,7.3,180,1819,0.00,2.33,5.32,0.657,4,0.000,0.044,3025,3597,1700
$GC,1855,0.99,171.3,36.3,8.1,184,1859,0.00,2.22,0.00,0.000,6,0.000,0.028,3034,2197,1700
$GC,2054,1.01,184.3,21.6,7.1,202,2072,0.00,0.00,11.60,0.780,6,0.000,0.000,3034,2195,1647
$GC,2275,1.03,203.7,6.2,6.8,239,2293,0.00,0.00,15.73,0.736,6,0.000,0.000,3035,2195,1569
$GC,2363,1.14,296.7,2.0,4.3,254,2371,0.15,0.00,5.55,0.640,2,0.058,0.000,3114,2194,1542
$STATE,2371,end climb,SURFACE_DEPTH_REACHED
$STATE,2372,begin surface coast
$FINISH,0.3,1.015607
$STATE,2433,end surface coast,CONTROL_FINISHED_OK
$STATE,2433,begin surface
$SM_CCo,2455,77.82,0.664,0,0,973,350.04
$SM_GC,1.03,0.00,0.00,77.82,0.000,0.000,0.664,21,2351,973,-8.42,0.03,350.04
$IRIDIUM_FIX,4742.09,-12447.40,270907,212139
$TT8_MAMPS,0.026078
$HUMID,1907
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.5,43.0
$24V_AH,24.4,50.500
$10V_AH,10.7,25.616
$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,20.600,18.525,277.500,77.825,0.000,26.622,12.648,98.065,0.750,0.000,0.000,12.089,437.371,1125.195,390.948,550.589,295.094,33.347,691.280,0.000,564.180,0.000,2.522
$DEVICE_MAMPS,203.255,58.292,780.039,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,191.956,205.309,448.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12851,266
$CFSIZE,260165632,242339840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,191531,4806.820,-12222.962,36,0.9,42,18.3