version: 66.03
glider: 128
mission: 2
dive: 559
start: 9 27 107 23 22 15
data:
$ID,128
$MISSION,2
$DIVE,559
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,53
$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,0.0038360001
$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,-72197.57
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$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,38
$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,0.0001162386
$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
$GPS1,231703,4808.057,-12223.997,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-66.9
$GPS2,232114,4808.045,-12224.020,15,1.8,15,18.3
$SPEED_LIMITS,0.075,0.237
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.164
$KALMAN_X,-22411.3,37.0,-64.4,21862.5,-134.9
$KALMAN_Y,-13744.9,-218.0,61.9,14614.3,-51.4
$MHEAD_RNG_PITCHd_Wd,115.6,6764,-14.1,-7.547
$D_GRID,103
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-58.65,0.000,2,0.000,0.000,20,2360,2445
$GC,92,-0.96,-146.6,3.3,-1.9,11,122,9.73,2.30,-14.02,0.000,4,0.206,0.045,2425,947,2999
$GC,427,-0.96,-146.6,42.3,-11.0,51,433,0.00,2.25,0.00,0.000,6,0.000,0.031,2419,2349,3003
$GC,625,-0.96,-146.6,63.7,-10.9,70,629,0.00,2.22,0.00,0.000,4,0.000,0.032,2419,951,3003
$GC,698,-0.96,-146.6,71.7,-10.4,76,704,0.00,2.25,0.00,0.000,6,0.000,0.033,2414,2355,3003
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1002,begin apogee
$GC,1010,-0.28,0.0,104.0,10.9,105,1127,0.73,0.00,111.22,0.737,6,0.112,0.000,2642,2180,2399
$STATE,1128,end apogee,CONTROL_FINISHED_OK
$STATE,1128,begin climb
$GC,1132,0.96,146.6,109.1,0.0,117,1249,1.23,0.00,111.30,0.691,6,0.079,0.000,3042,2180,1801
$GC,1568,0.96,146.6,75.0,9.3,159,1572,0.00,2.38,0.00,0.000,4,0.000,0.042,3042,3616,1799
$GC,1626,0.96,146.6,69.0,10.4,164,1630,0.00,2.22,0.00,0.000,6,0.000,0.027,3052,2212,1799
$GC,1955,0.96,146.6,38.2,8.9,194,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2211,1799
$GC,2153,0.96,146.6,21.2,8.3,213,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2211,1799
$GC,2357,0.99,165.6,5.2,6.9,247,2380,0.00,2.35,14.73,0.792,4,0.000,0.042,3052,3612,1724
$GC,2394,1.07,234.7,3.1,5.2,253,2418,0.00,2.25,19.38,0.641,2,0.000,0.027,3059,2196,1547
$STATE,2419,end climb,SURFACE_DEPTH_REACHED
$STATE,2419,begin surface coast
$FINISH,1.5,1.024035
$STATE,2463,end surface coast,CONTROL_FINISHED_OK
$STATE,2463,begin surface
$SM_CCo,2486,70.32,0.661,0,0,973,350.04
$SM_GC,2.26,0.00,0.00,70.32,0.000,0.000,0.661,18,2376,973,-8.51,0.71,350.04
$IRIDIUM_FIX,4751.72,-12223.57,280907,020208
$TT8_MAMPS,0.026845
$HUMID,1897
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.1,46.6
$24V_AH,24.4,50.955
$10V_AH,10.7,25.831
$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,20.475,18.725,256.625,70.325,0.000,26.153,16.309,95.562,0.250,0.000,0.000,17.074,433.960,1190.994,361.625,547.617,295.477,33.349,654.816,0.000,559.078,0.000,5.295
$DEVICE_MAMPS,206.323,45.253,792.311,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,191.802,207.357,447.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12831,265
$CFSIZE,260165632,242192384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,000539,4807.875,-12223.785,8,1.7,8,18.3