version: 66.03
glider: 128
mission: 2
dive: 704
start: 10 3 107 22 32 0
data:
$ID,128
$MISSION,2
$DIVE,704
$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,475
$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,-75688.055
$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,57
$R_STBD_OVSHOOT,40
$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
$GPS1,222638,4807.145,-12223.177,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-64.6
$GPS2,223103,4807.178,-12223.195,11,1.8,11,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,-0.183
$KALMAN_X,-38528.6,-621.0,-57.2,39650.6,-82.8
$KALMAN_Y,-16337.3,645.7,102.7,14697.7,154.7
$MHEAD_RNG_PITCHd_Wd,129.1,4863,-11.0,-5.970
$D_GRID,105
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,106,0.00,0.00,-70.18,0.000,2,0.000,0.000,9,2358,2244
$GC,111,-0.79,-146.6,3.1,-1.2,13,152,9.98,2.38,-21.92,0.000,4,0.202,0.061,2472,3744,3001
$GC,177,-0.79,-146.6,9.2,-7.7,24,184,0.00,2.20,0.00,0.000,6,0.000,0.026,2472,2331,3003
$GC,254,-0.79,-146.6,16.8,-9.4,37,260,0.00,2.20,0.00,0.000,4,0.000,0.032,2472,974,3003
$GC,347,-0.79,-146.6,25.5,-9.4,53,354,0.00,2.25,0.00,0.000,6,0.000,0.034,2469,2342,3004
$GC,560,-0.79,-146.6,44.9,-9.1,90,566,0.00,2.35,0.00,0.000,4,0.000,0.049,2463,3759,3004
$GC,603,-0.79,-146.6,48.9,-9.2,97,609,0.00,2.20,0.00,0.000,6,0.000,0.026,2463,2353,3004
$GC,809,-0.79,-146.6,67.7,-9.3,117,813,0.00,2.20,0.00,0.000,4,0.000,0.032,2463,966,3004
$GC,855,-0.79,-146.6,71.9,-9.0,120,862,0.00,2.22,0.00,0.000,6,0.000,0.034,2457,2351,3004
$GC,1185,-0.79,-146.6,101.8,-8.9,151,1189,0.00,2.33,0.00,0.000,4,0.000,0.050,2452,3755,3003
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1227,-0.28,0.0,105.5,9.4,153,1344,0.62,0.00,112.85,0.741,6,0.114,0.000,2645,2195,2399
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1349,0.79,146.6,109.9,0.0,165,1467,1.05,0.00,112.07,0.700,6,0.082,0.000,2987,2195,1801
$GC,1786,0.79,146.6,82.7,6.9,207,1790,0.00,2.38,0.00,0.000,4,0.000,0.045,2987,3616,1799
$GC,1838,0.79,146.6,78.6,8.4,211,1844,0.00,2.22,0.00,0.000,6,0.000,0.027,2996,2207,1799
$GC,2167,0.79,146.6,55.1,7.2,242,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2206,1799
$GC,2509,0.79,146.6,31.7,6.6,296,2515,0.00,2.33,0.00,0.000,4,0.000,0.046,2996,3607,1799
$GC,2574,0.79,146.6,26.8,7.5,307,2581,0.00,2.22,0.00,0.000,6,0.000,0.027,3005,2191,1799
$GC,2787,0.79,146.6,12.9,6.7,344,2793,0.00,2.22,0.00,0.000,4,0.000,0.036,3012,809,1799
$GC,2852,0.81,166.7,9.2,5.4,355,2877,0.00,2.22,16.77,0.785,6,0.000,0.031,3012,2208,1719
$GC,2947,0.89,227.4,5.1,4.3,371,2998,0.00,2.35,42.60,0.685,4,0.000,0.035,3012,806,1471
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,1.5,1.014109
$STATE,3048,end surface coast,CONTROL_FINISHED_OK
$STATE,3048,begin surface
$SM_CCo,3074,122.93,0.651,0,0,461,475.15
$SM_GC,2.30,0.00,0.00,122.93,0.000,0.000,0.651,7,2345,461,-8.54,-0.14,475.15
$IRIDIUM_FIX,4751.72,-12232.48,041007,010116
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,46.6
$24V_AH,24.3,63.424
$10V_AH,10.7,32.045
$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,20.275,41.325,284.300,122.925,0.000,29.449,12.342,104.017,0.250,0.000,0.000,13.361,609.560,1281.615,473.836,747.951,362.188,33.356,868.919,0.000,770.601,0.000,2.515
$DEVICE_MAMPS,202.488,60.593,785.408,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.760,300.669,656.333,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19050,389
$CFSIZE,260165632,238243840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,232609,4806.861,-12223.017,10,1.3,10,18.3