version: 66.03
glider: 128
mission: 2
dive: 706
start: 10 4 107 0 45 48
data:
$ID,128
$MISSION,2
$DIVE,706
$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,-75720.984
$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,35
$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
$GPS1,003935,4806.676,-12222.906,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-64.2
$GPS2,004451,4806.695,-12222.903,15,1.1,15,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.156
$KALMAN_X,-39061.2,-662.9,56.1,40473.1,-126.7
$KALMAN_Y,-16132.4,859.3,38.6,13449.8,12.9
$MHEAD_RNG_PITCHd_Wd,117.7,3925,-11.0,-5.970
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-0.79,-146.6,0.0,0.0,0,112,0.00,0.00,-75.35,0.000,2,0.000,0.000,18,2345,2341
$GC,116,-0.79,-146.6,3.0,-1.2,14,152,9.95,2.38,-19.17,0.000,4,0.204,0.061,2469,3756,2999
$GC,212,-0.79,-146.6,12.2,-9.0,30,219,0.00,2.22,0.00,0.000,6,0.000,0.026,2468,2327,3001
$GC,289,-0.79,-146.6,18.2,-7.5,43,295,0.00,2.17,0.00,0.000,4,0.000,0.031,2468,962,3001
$GC,349,-0.79,-146.6,21.6,-5.6,53,355,0.00,2.28,0.00,0.000,6,0.000,0.035,2468,2345,3001
$GC,561,-0.79,-146.6,33.8,-6.3,90,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2345,3002
$GC,775,-0.79,-146.6,49.5,-8.0,127,782,0.00,2.35,0.00,0.000,4,0.000,0.050,2463,3750,3002
$GC,828,-0.79,-146.6,54.5,-8.7,132,834,0.00,2.15,0.00,0.000,6,0.000,0.026,2463,2350,3002
$GC,1155,-0.79,-146.6,82.8,-9.0,163,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2350,3002
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1383,-0.28,0.0,103.2,9.1,184,1500,0.57,0.00,112.32,0.743,6,0.109,0.000,2643,2200,2400
$STATE,1501,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1506,0.79,146.6,108.1,0.0,196,1625,1.05,2.35,111.62,0.700,4,0.083,0.038,2988,818,1801
$GC,1667,0.79,146.6,101.2,7.3,211,1671,0.00,2.30,0.00,0.000,6,0.000,0.031,2988,2202,1801
$GC,1997,0.79,146.6,77.6,7.4,241,2001,0.00,2.35,0.00,0.000,4,0.000,0.047,2987,3614,1799
$GC,2047,0.79,146.6,72.9,9.0,245,2054,0.00,2.22,0.00,0.000,6,0.000,0.027,2992,2205,1799
$GC,2380,0.79,146.6,48.5,6.3,278,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2204,1799
$GC,2594,0.86,200.6,37.8,4.5,315,2640,0.00,2.42,41.38,0.732,4,0.000,0.045,2993,3604,1581
$GC,2694,0.92,252.9,33.3,4.5,332,2741,0.10,2.28,40.67,0.688,6,0.048,0.027,3053,2196,1368
$GC,2949,1.12,415.3,26.0,1.5,376,3083,0.15,2.47,124.70,0.672,4,0.056,0.047,3128,3607,704
$GC,3122,1.12,415.3,14.1,10.8,406,3129,0.15,2.30,0.00,0.000,6,0.129,0.027,3099,2197,699
$GC,3199,1.12,415.3,5.9,10.1,419,3206,0.00,2.28,0.00,0.000,4,0.000,0.035,3104,801,697
$STATE,3233,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,1.6,1.025706
$STATE,3240,end surface coast,CONTROL_FINISHED_OK
$STATE,3240,begin surface
$SM_CCo,3266,35.55,0.680,0,0,463,475.15
$SM_GC,2.26,0.00,0.00,35.55,0.000,0.000,0.680,21,2357,463,-8.50,0.20,475.15
$IRIDIUM_FIX,4748.51,-12221.84,041007,030310
$TT8_MAMPS,0.026845
$HUMID,1890
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.7,42.2
$24V_AH,24.3,63.645
$10V_AH,10.7,32.154
$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,20.825,37.300,430.700,35.550,0.000,28.717,15.139,122.051,1.250,0.000,0.000,17.402,635.463,1265.657,458.288,845.885,425.760,33.358,927.674,0.000,857.331,0.000,10.568
$DEVICE_MAMPS,204.022,61.360,743.223,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.944,321.185,718.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,426
$CFSIZE,260165632,238178304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,014204,4806.330,-12222.520,13,2.8,32,18.3