version: 66.03
glider: 128
mission: 2
dive: 672
start: 10 2 107 9 48 36
data:
$ID,128
$MISSION,2
$DIVE,672
$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,400
$N_FILEKB,8
$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,-74971.133
$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,60
$R_STBD_OVSHOOT,41
$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
$GPS1,094326,4805.739,-12221.766,11,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.0
$GPS2,094739,4805.792,-12221.781,10,1.7,10,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.167
$KALMAN_X,-34642.2,110.8,10.9,36711.2,-174.4
$KALMAN_Y,-14911.5,148.6,-116.8,11419.6,104.2
$MHEAD_RNG_PITCHd_Wd,122.0,1756,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,94,0.00,0.00,-58.92,0.000,2,0.000,0.000,12,2333,2256
$GC,99,-0.79,-146.6,3.1,-1.1,11,139,9.98,2.25,-23.67,0.000,4,0.203,0.046,2481,951,2998
$GC,164,-0.79,-146.6,8.3,-8.0,22,171,0.00,2.28,0.00,0.000,6,0.000,0.033,2477,2350,3000
$GC,240,-0.79,-146.6,15.4,-8.5,35,247,0.00,2.35,0.00,0.000,4,0.000,0.051,2469,3752,3000
$GC,277,-0.79,-146.6,19.1,-9.9,41,284,0.00,2.22,0.00,0.000,6,0.000,0.025,2469,2343,3000
$GC,356,-0.79,-146.6,26.6,-9.2,49,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2342,3001
$GC,547,-0.79,-146.6,43.0,-8.9,67,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2342,3001
$GC,738,-0.79,-146.6,59.9,-8.9,85,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2342,3001
$GC,1059,-0.79,-146.6,87.0,-8.8,115,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2342,3002
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1327,-0.28,0.0,110.5,8.6,140,1445,0.55,0.00,111.90,0.751,6,0.110,0.000,2642,2197,2399
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1449,0.79,146.6,115.1,0.0,152,1568,1.05,2.38,111.07,0.692,4,0.084,0.037,2992,819,1801
$GC,1593,0.79,146.6,108.7,6.3,165,1599,0.00,2.33,0.00,0.000,6,0.000,0.032,2992,2211,1800
$GC,1922,0.79,146.6,85.4,7.0,196,1926,0.00,2.33,0.00,0.000,4,0.000,0.048,2992,3605,1799
$GC,1978,0.79,146.6,80.6,8.3,200,1984,0.00,2.22,0.00,0.000,6,0.000,0.027,3001,2199,1799
$GC,2309,0.79,146.6,55.7,7.2,231,2313,0.00,2.35,0.00,0.000,4,0.000,0.047,3001,3609,1799
$GC,2344,0.79,146.6,52.5,7.8,233,2350,0.00,2.22,0.00,0.000,6,0.000,0.027,3009,2198,1799
$GC,2673,0.79,146.6,28.1,7.7,264,2677,0.00,2.22,0.00,0.000,4,0.000,0.036,3017,801,1799
$GC,2708,0.79,146.6,25.1,8.0,267,2712,0.00,2.25,0.00,0.000,6,0.000,0.031,3017,2208,1799
$GC,2919,0.79,146.6,11.0,6.3,297,2926,0.00,2.25,0.00,0.000,4,0.000,0.035,3025,804,1799
$GC,2962,0.79,147.6,8.1,5.9,304,2969,0.00,2.25,0.00,0.000,6,0.000,0.032,3025,2201,1799
$GC,3039,0.89,224.0,4.4,3.9,317,3086,0.00,1.00,42.75,0.729,3,0.000,0.042,3025,2801,1484
$STATE,3086,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,1.6,1.012471
$STATE,3126,end surface coast,CONTROL_FINISHED_OK
$STATE,3126,begin surface
$SM_CCo,3149,84.55,0.650,0,0,769,400.08
$SM_GC,2.42,0.00,0.00,84.55,0.000,0.000,0.650,19,2341,769,-8.51,-0.25,400.08
$IRIDIUM_FIX,4748.51,-12220.12,021007,121238
$TT8_MAMPS,0.026078
$HUMID,1877
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,42.0
$24V_AH,24.3,60.042
$10V_AH,10.7,30.427
$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,20.150,33.800,265.725,84.550,0.000,28.058,15.351,97.420,0.750,0.000,0.000,11.688,538.200,1564.006,387.279,662.962,348.966,33.335,753.049,0.000,677.038,0.000,6.932
$DEVICE_MAMPS,203.255,50.622,750.893,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.851,259.646,560.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,332
$CFSIZE,260165632,239165440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,104355,4805.513,-12221.561,26,1.2,44,18.3