version: 66.03
glider: 128
mission: 2
dive: 633
start: 9 30 107 17 24 36
data:
$ID,128
$MISSION,2
$DIVE,633
$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,67
$T_MISSION,80
$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,538.67877
$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,-73953.711
$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,62
$R_STBD_OVSHOOT,46
$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
$GPS1,170431,4805.331,-12221.227,36,1.5,43,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-61.6
$GPS2,172339,4805.521,-12221.478,10,1.3,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,0.205
$KALMAN_X,-31127.5,-67.3,-39.5,33801.5,-225.2
$KALMAN_Y,-14132.0,-123.4,137.0,10154.7,-33.6
$MHEAD_RNG_PITCHd_Wd,322.4,5551,-11.0,-5.970
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.79,-146.6,0.0,0.0,0,128,0.00,0.00,-97.05,0.000,2,0.000,0.000,18,2365,2599
$GC,133,-0.79,-146.6,3.4,-1.8,18,158,9.90,2.38,-9.88,0.000,4,0.203,0.061,2471,3740,3000
$GC,464,-0.79,-146.6,38.7,-9.5,59,468,0.00,2.17,0.00,0.000,6,0.000,0.026,2471,2340,3003
$GC,668,-0.79,-146.6,56.1,-8.2,78,672,0.00,2.35,0.00,0.000,4,0.000,0.048,2464,3749,3003
$GC,743,-0.79,-146.6,62.7,-9.6,84,747,0.00,2.17,0.00,0.000,6,0.000,0.026,2464,2340,3003
$GC,1068,-0.79,-146.6,91.6,-9.6,114,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2339,3003
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1286,-0.28,0.0,110.5,8.5,134,1403,0.57,0.00,112.10,0.748,6,0.110,0.000,2645,2206,2399
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1408,0.79,146.6,114.9,0.0,146,1524,1.05,0.00,111.38,0.693,6,0.081,0.000,2986,2206,1802
$GC,1842,0.79,146.6,88.0,7.4,187,1846,0.00,2.33,0.00,0.000,4,0.000,0.044,2986,3597,1799
$GC,1900,0.79,146.6,83.1,9.1,192,1904,0.00,2.20,0.00,0.000,6,0.000,0.026,2996,2207,1799
$GC,2229,0.79,146.6,56.9,7.9,222,2233,0.00,2.30,0.00,0.000,4,0.000,0.044,2995,3595,1799
$GC,2282,0.79,146.6,52.3,8.9,226,2286,0.00,2.20,0.00,0.000,6,0.000,0.026,3004,2196,1799
$GC,2611,0.79,146.6,27.0,7.4,256,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2194,1799
$GC,2815,0.80,158.1,14.9,5.7,283,2833,0.00,2.25,10.48,0.801,4,0.000,0.037,3013,797,1754
$GC,2893,0.80,158.1,10.3,6.3,296,2899,0.00,2.25,0.00,0.000,6,0.000,0.031,3013,2207,1754
$GC,2969,0.87,214.2,6.5,4.4,309,3020,0.00,2.38,42.03,0.706,4,0.000,0.044,3013,3596,1525
$STATE,3059,end climb,SURFACE_DEPTH_REACHED
$STATE,3059,begin surface coast
$FINISH,1.5,1.003441
$STATE,3065,end surface coast,CONTROL_FINISHED_OK
$STATE,3065,begin surface
$SM_CCo,3089,168.20,0.638,0,0,203,538.68
$SM_GC,2.44,0.00,0.00,168.20,0.000,0.000,0.638,16,2340,203,-8.51,-0.28,538.68
$IRIDIUM_FIX,4748.51,-12226.29,300907,212105
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.6,43.4
$24V_AH,24.4,56.673
$10V_AH,10.7,28.708
$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,20.175,27.150,275.975,168.200,0.000,133.622,339.445,294.041,1.250,0.000,0.000,12.403,521.998,1755.122,487.434,679.506,976.235,33.348,850.603,0.000,694.577,0.000,6.941
$DEVICE_MAMPS,203.255,60.593,800.748,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.376,251.811,550.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16036,326
$CFSIZE,260165632,240263168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,182002,4805.847,-12221.709,11,1.9,28,18.3