version: 66.03
glider: 128
mission: 2
dive: 997
start: 10 14 107 16 11 53
data:
$ID,128
$MISSION,2
$DIVE,997
$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,-93811.711
$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,52
$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,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
$GPS1,160534,4806.488,-12222.690,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.5
$GPS2,161051,4806.504,-12222.710,13,1.9,13,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.170
$KALMAN_X,-13622.8,-21.8,-81.0,13868.7,-140.4
$KALMAN_Y,-2528.2,-124.9,79.0,2754.1,136.5
$MHEAD_RNG_PITCHd_Wd,117.8,1282,-14.1,-7.547
$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,34,-0.96,-146.6,0.0,0.0,0,84,0.00,0.00,-47.90,0.000,2,0.000,0.000,20,2355,1529
$GC,90,-0.96,-146.6,3.0,-1.1,9,158,10.05,0.00,-54.58,0.000,6,0.205,0.000,2464,2355,3099
$GC,229,-0.96,-146.6,12.1,-10.1,33,236,0.00,2.35,0.00,0.000,4,0.000,0.048,2455,3752,3102
$GC,274,-0.96,-146.6,16.9,-11.1,40,280,0.00,2.20,0.00,0.000,6,0.000,0.026,2455,2327,3102
$GC,351,-0.96,-146.6,25.5,-10.4,53,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2327,3102
$GC,563,-0.96,-146.6,47.4,-10.7,90,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2327,3102
$GC,770,-0.96,-146.6,69.3,-10.5,111,774,0.00,2.35,0.00,0.000,4,0.000,0.046,2445,3749,3102
$GC,818,-0.96,-146.6,74.7,-11.6,115,821,0.00,2.17,0.00,0.000,6,0.000,0.026,2445,2340,3102
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1103,-0.28,0.0,105.4,11.2,140,1221,0.77,0.00,114.55,0.738,6,0.112,0.000,2685,2152,2500
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1227,0.96,146.6,111.1,0.0,152,1345,1.20,0.00,112.70,0.699,6,0.074,0.000,3083,2151,1901
$GC,1663,0.96,146.6,83.2,7.9,193,1667,0.00,2.33,0.00,0.000,4,0.000,0.043,3083,3554,1900
$GC,1694,0.96,146.6,80.5,8.2,195,1700,0.00,2.20,0.00,0.000,6,0.000,0.027,3093,2159,1900
$GC,2026,0.96,146.6,53.3,8.0,226,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2159,1899
$GC,2373,0.97,149.0,25.9,7.5,284,2379,0.00,2.30,0.00,0.000,4,0.000,0.043,3093,3555,1899
$GC,2417,0.97,149.0,22.4,8.3,291,2423,0.00,2.22,0.00,0.000,6,0.000,0.027,3104,2140,1899
$GC,2632,1.00,173.6,7.4,6.7,328,2660,0.00,2.25,22.05,0.754,4,0.000,0.038,3112,759,1790
$STATE,2853,end climb,NO_VERTICAL_VELOCITY
$STATE,2853,begin surface
$SM_CCo,2859,225.50,0.648,0,0,203,563.21
$SM_GC,2.70,8.90,0.00,0.00,0.038,0.000,0.000,18,2354,195,-8.57,0.11,565.42
$IRIDIUM_FIX,4748.51,-12219.12,141007,191928
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,49.6
$24V_AH,23.9,95.484
$10V_AH,10.7,44.751
$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,20.925,23.275,249.300,225.500,0.000,31.334,17.120,128.391,0.500,0.000,0.000,14.560,572.154,1285.853,528.429,714.506,431.209,33.363,896.006,0.000,728.755,0.000,2.523
$DEVICE_MAMPS,204.789,47.554,753.961,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.509,280.101,619.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19062,367
$CFSIZE,260165632,230723584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141007,170609,4806.209,-12222.488,12,1.3,12,18.3