version: 66.03
glider: 128
mission: 2
dive: 991
start: 10 14 107 10 5 59
data:
$ID,128
$MISSION,2
$DIVE,991
$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,-93675.602
$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,69
$R_STBD_OVSHOOT,42
$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
$GPS1,095907,4806.276,-12222.572,248,1.9,249,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-71.3
$GPS2,100457,4806.239,-12222.558,15,2.0,15,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.219
$KALMAN_X,-12729.1,-25.6,-34.5,13117.9,100.1
$KALMAN_Y,-2819.1,-186.6,-14.3,2721.0,-220.5
$MHEAD_RNG_PITCHd_Wd,319.2,1511,-14.1,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,34,-0.96,-146.6,0.0,0.0,0,63,0.00,0.00,-26.52,0.000,2,0.000,0.000,14,2321,963
$GC,69,-0.96,-146.6,3.1,-1.6,5,148,10.07,2.25,-63.00,0.000,4,0.204,0.045,2466,968,3100
$GC,185,-0.96,-146.6,12.6,-11.1,25,192,0.00,2.25,0.00,0.000,6,0.000,0.034,2458,2354,3102
$GC,264,-0.96,-146.6,20.4,-10.3,38,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2354,3102
$GC,475,-0.96,-146.6,42.0,-10.1,75,482,0.00,2.25,0.00,0.000,4,0.000,0.033,2458,973,3102
$GC,521,-0.96,-146.6,46.5,-10.4,82,527,0.00,2.22,0.00,0.000,6,0.000,0.035,2455,2351,3102
$GC,723,-0.96,-146.6,68.0,-11.0,103,727,0.00,2.30,0.00,0.000,4,0.000,0.046,2445,3752,3102
$GC,766,-0.96,-146.6,72.7,-11.3,106,770,0.00,2.15,0.00,0.000,6,0.000,0.026,2445,2342,3102
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1057,-0.28,0.0,103.0,10.4,132,1175,0.77,0.00,114.35,0.743,6,0.112,0.000,2686,2146,2499
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1181,0.96,146.6,108.8,0.0,144,1298,1.20,0.00,112.93,0.702,6,0.074,0.000,3085,2146,1901
$GC,1619,0.96,146.6,79.5,8.3,186,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2146,1900
$GC,1937,0.96,146.6,54.0,7.9,216,1941,0.00,2.35,0.00,0.000,4,0.000,0.043,3085,3562,1899
$GC,2002,0.96,146.6,48.5,8.8,223,2009,0.00,2.25,0.00,0.000,6,0.000,0.027,3096,2157,1899
$GC,2217,0.96,146.6,31.0,7.9,260,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2157,1899
$GC,2435,1.03,198.6,16.5,5.7,297,2481,0.00,2.38,40.70,0.723,4,0.000,0.038,3107,754,1689
$GC,2547,1.08,243.3,8.4,6.0,316,2587,0.00,2.28,35.12,0.689,6,0.000,0.030,3106,2159,1507
$GC,2659,1.36,469.6,7.9,-0.3,335,2846,0.28,2.40,173.27,0.653,4,0.045,0.038,3232,752,584
$STATE,2997,end climb,NO_VERTICAL_VELOCITY
$STATE,2997,begin surface
$SM_CCo,3003,62.90,0.658,0,0,204,563.21
$SM_GC,2.64,9.35,0.00,0.00,0.044,0.000,0.000,11,2357,194,-8.58,0.20,565.42
$IRIDIUM_FIX,4751.72,-12216.40,141007,121250
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.9,46.0
$24V_AH,24.0,94.825
$10V_AH,10.7,44.457
$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,21.675,28.000,476.375,62.900,0.000,30.511,40.429,133.653,0.250,0.000,0.000,16.659,562.736,1245.628,514.645,756.437,466.917,33.381,946.514,0.000,776.332,0.000,2.517
$DEVICE_MAMPS,204.022,46.020,743.223,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.437,295.346,666.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19100,395
$CFSIZE,260165632,230895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,110016,4806.517,-12222.856,11,3.2,30,18.3