version: 66.03
glider: 128
mission: 2
dive: 971
start: 10 13 107 13 16 57
data:
$ID,128
$MISSION,2
$DIVE,971
$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,30
$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,563.2088
$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,-92426.414
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2780
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2500
$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
$GPS1,131025,4806.683,-12222.950,38,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.0
$GPS2,131556,4806.700,-12222.964,14,1.8,31,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.017,0.234
$KALMAN_X,-10815.4,59.2,39.0,10550.1,-3.6
$KALMAN_Y,-1031.8,-290.1,-70.6,1928.2,-78.3
$MHEAD_RNG_PITCHd_Wd,337.6,557,-14.3,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.97,-143.6,0.0,0.0,0,73,0.00,0.00,-37.10,0.000,2,0.000,0.000,19,2356,1256
$GC,79,-0.97,-146.6,3.1,-1.2,7,158,9.93,2.33,-61.53,0.000,4,0.201,0.058,2455,3753,3098
$GC,282,-0.97,-146.6,20.9,-10.8,42,289,0.00,2.22,0.00,0.000,6,0.000,0.026,2455,2338,3100
$GC,496,-0.97,-146.6,42.8,-10.2,79,502,0.00,2.17,0.00,0.000,4,0.000,0.033,2455,968,3101
$GC,557,-0.97,-146.6,49.5,-11.0,89,563,0.00,2.22,0.00,0.000,6,0.000,0.033,2447,2345,3101
$GC,757,-0.97,-146.6,72.0,-11.5,108,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2345,3100
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1049,-0.28,0.0,103.9,11.0,135,1166,0.75,0.00,113.88,0.744,6,0.107,0.000,2682,2152,2500
$STATE,1167,end apogee,CONTROL_FINISHED_OK
$STATE,1167,begin climb
$GC,1173,0.97,146.6,109.2,0.0,147,1292,1.23,2.35,112.28,0.702,4,0.073,0.036,3100,762,1900
$GC,1358,0.97,146.6,100.2,8.4,163,1364,0.00,2.28,0.00,0.000,6,0.000,0.030,3100,2159,1900
$GC,1690,0.97,146.6,72.1,9.2,194,1694,0.00,2.30,0.00,0.000,4,0.000,0.044,3100,3560,1899
$GC,1778,0.97,146.6,63.5,9.9,201,1784,0.00,2.22,0.00,0.000,6,0.000,0.026,3110,2151,1899
$GC,2118,0.97,146.6,34.5,8.3,248,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2151,1899
$GC,2334,0.97,146.6,18.1,7.7,285,2340,0.00,2.25,0.00,0.000,4,0.000,0.037,3121,753,1899
$GC,2389,1.01,177.9,14.1,6.4,294,2423,0.00,2.25,25.73,0.749,6,0.000,0.031,3120,2164,1772
$GC,2495,1.04,202.7,6.8,6.7,312,2523,0.00,2.35,19.65,0.709,4,0.000,0.043,3120,3544,1672
$GC,2550,1.16,299.6,4.3,4.1,321,2628,0.00,2.22,72.90,0.660,6,0.000,0.026,3126,2146,1278
$GC,2704,1.40,493.2,3.4,0.7,347,2712,0.25,0.00,5.03,0.598,2,0.046,0.000,3244,2145,1253
$STATE,2713,end climb,NO_VERTICAL_VELOCITY
$STATE,2713,begin surface
$SM_CCo,2719,158.77,0.641,0,0,204,563.21
$SM_GC,2.88,9.40,0.00,0.00,0.044,0.000,0.000,15,2360,196,-8.58,0.28,565.17
$IRIDIUM_FIX,4748.51,-12224.57,131007,161612
$TT8_MAMPS,0.025311
$HUMID,1865
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,79.1,48.4
$24V_AH,23.9,92.586
$10V_AH,10.7,43.429
$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,21.550,27.775,349.450,158.775,0.000,23.363,34.421,115.726,0.250,0.000,0.000,32.676,523.058,1140.405,524.644,715.160,433.745,33.336,921.251,0.000,710.454,0.000,2.522
$DEVICE_MAMPS,200.954,58.292,748.592,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.498,261.517,587.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15959,348
$CFSIZE,260165632,231464960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131007,140752,4807.062,-12223.109,12,1.5,19,18.3