version: 66.02
glider: 23
mission: 2
dive: 4
start: 9 20 107 19 11 44
data:
$ID,23
$MISSION,2
$DIVE,4
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$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,33
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$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,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28872.623
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,190615,4739.445,-12252.507,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.4
$GPS2,191039,4739.472,-12252.479,14,1.1,14,18.3
$SPEED_LIMITS,0.175,0.239
$TGT_NAME,T3
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,-0.201
$KALMAN_X,-39.1,-50.9,-48.0,722.1,-12.9
$KALMAN_Y,123.9,81.4,68.9,-848.0,41.4
$MHEAD_RNG_PITCHd_Wd,128.8,1059,-18.9,-10.101
$D_GRID,124
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.34,-146.6,0.0,0.0,0,87,0.00,0.00,-67.62,0.000,2,0.000,0.000,368,2159,3195
$GC,90,-1.34,-146.6,2.0,-4.0,11,139,10.88,2.45,-30.45,0.000,4,0.146,0.059,2314,3574,3995
$GC,389,-1.34,-146.6,29.2,-10.5,51,393,0.00,2.42,0.00,0.000,6,0.000,0.035,2315,2150,3998
$GC,592,-1.34,-146.6,48.9,-10.5,67,596,0.00,2.45,0.00,0.000,4,0.000,0.048,2314,3562,3998
$GC,742,-1.34,-146.6,65.3,-10.8,78,747,0.00,2.42,0.00,0.000,6,0.000,0.036,2315,2146,3998
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1073,-0.31,0.0,100.3,10.7,104,1173,1.12,0.00,96.35,0.736,6,0.090,0.000,2540,2145,3484
$STATE,1174,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1175,1.34,146.6,103.2,0.0,112,1298,1.67,3.00,109.35,0.720,4,0.064,0.059,2897,740,2886
$GC,1336,1.34,146.6,89.3,13.2,125,1341,0.00,2.83,0.00,0.000,6,0.000,0.031,2897,2159,2886
$GC,1664,1.34,146.6,47.5,11.9,151,1669,0.00,2.95,0.00,0.000,4,0.000,0.058,2897,734,2886
$GC,1690,1.34,146.6,44.2,13.3,153,1695,0.00,2.80,0.00,0.000,6,0.000,0.031,2897,2166,2884
$GC,1892,1.34,146.6,19.5,12.1,169,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2167,2886
$GC,1958,1.34,146.6,11.7,11.8,179,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2167,2885
$GC,2024,1.36,163.9,5.0,9.3,189,2043,0.00,2.45,12.88,0.696,4,0.000,0.047,2897,3569,2814
$STATE,2061,end climb,SURFACE_DEPTH_REACHED
$STATE,2061,begin surface coast
$FINISH,0.6,1.020771
$STATE,2082,end surface coast,CONTROL_FINISHED_OK
$STATE,2083,begin surface
$SM_CCo,2103,89.57,0.654,0,0,2056,350.04
$SM_GC,1.41,0.00,0.00,89.57,0.000,0.000,0.654,367,2138,2056,-10.32,-0.34,350.04
$IRIDIUM_FIX,4722.92,-12251.79,200907,232312
$TT8_MAMPS,0.026845
$HUMID,2161
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,9.5,8.8
$ALTIM_BOTTOM_PING,85.2,33.8
$24V_AH,23.9,3.758
$10V_AH,10.2,2.466
$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,25.200,26.225,218.575,89.575,0.000,0.000,0.000,0.000,1.750,0.000,0.000,16.374,365.920,1114.315,393.548,366.618,37.601,32.330,625.800,0.000,358.047,0.000,7.154
$DEVICE_MAMPS,146.497,59.059,736.320,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6454,198
$CFSIZE,260034560,257486848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,194929,4739.270,-12252.300,11,2.4,30,18.3