version: 66.02
glider: 23
mission: 2
dive: 143
start: 9 25 107 15 41 2
data:
$ID,23
$MISSION,2
$DIVE,143
$D_SURF,5
$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,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28775.258
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,25
$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,0
$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
$GPS1,153515,4740.793,-12251.812,11,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.5
$GPS2,153939,4740.797,-12251.788,13,1.8,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,-0.211
$KALMAN_X,8957.2,451.3,47.2,-8013.5,117.6
$KALMAN_Y,7448.1,221.2,78.7,-5871.4,7.5
$MHEAD_RNG_PITCHd_Wd,204.1,3030,-8.2,-7.407
$D_GRID,99
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.60,-78.2,0.0,0.0,0,77,0.00,0.00,-55.80,0.000,2,0.000,0.000,368,2143,3118
$GC,80,-0.60,-78.2,2.0,-2.8,9,130,11.73,2.92,-30.80,0.000,4,0.146,0.060,2476,724,3803
$GC,143,-0.60,-78.2,2.8,-3.9,19,149,0.00,2.85,0.00,0.000,6,0.000,0.032,2476,2163,3803
$GC,215,-0.60,-78.2,6.1,-3.7,30,221,0.00,2.42,0.00,0.000,4,0.000,0.051,2476,3561,3804
$GC,392,-0.60,-78.2,11.8,-3.3,57,399,0.00,2.40,0.00,0.000,6,0.000,0.034,2476,2137,3805
$GC,465,-0.60,-78.2,13.6,-2.0,68,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2138,3805
$GC,536,-0.60,-78.2,14.9,-1.5,79,543,0.00,2.50,0.00,0.000,4,0.000,0.051,2476,3577,3805
$GC,568,-0.60,-78.2,15.6,-2.0,84,575,0.00,2.40,0.00,0.000,6,0.000,0.034,2476,2146,3805
$GC,641,-0.60,-78.2,16.9,-1.6,95,647,0.00,2.88,0.00,0.000,4,0.000,0.051,2476,735,3805
$GC,759,-0.60,-78.2,19.5,-2.2,113,765,0.00,2.80,0.00,0.000,6,0.000,0.031,2476,2155,3805
$GC,835,-0.60,-78.2,21.3,-2.5,121,839,0.00,2.45,0.00,0.000,4,0.000,0.051,2476,3566,3806
$GC,913,-0.60,-78.2,23.5,-2.8,126,920,0.00,2.42,0.00,0.000,6,0.000,0.034,2476,2147,3805
$GC,1109,-0.60,-78.2,28.2,-2.3,142,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2147,3806
$GC,1299,-0.60,-78.2,32.8,-2.5,157,1304,0.00,2.90,0.00,0.000,4,0.000,0.054,2476,724,3806
$GC,1385,-0.60,-78.2,35.1,-2.8,163,1389,0.00,2.83,0.00,0.000,6,0.000,0.031,2476,2156,3806
$GC,1580,-0.60,-78.2,39.2,-2.0,178,1584,0.00,2.92,0.00,0.000,4,0.000,0.051,2476,729,3806
$GC,1626,-0.60,-78.2,40.3,-2.6,181,1630,0.00,2.80,0.00,0.000,6,0.000,0.031,2476,2155,3806
$GC,1821,-0.60,-78.2,45.1,-2.4,196,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2154,3806
$GC,2011,-0.60,-78.2,49.7,-2.5,211,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2154,3806
$GC,2201,-0.60,-78.2,54.5,-2.3,226,2205,0.00,2.92,0.00,0.000,4,0.000,0.051,2476,725,3805
$GC,2259,-0.60,-78.2,56.1,-3.0,230,2264,0.00,2.80,0.00,0.000,6,0.000,0.031,2476,2149,3806
$GC,2455,-0.60,-78.2,60.8,-2.3,245,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2149,3806
$GC,2645,-0.60,-78.2,65.2,-2.1,260,2649,0.00,2.90,0.00,0.000,4,0.000,0.051,2476,726,3806
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2713,-0.31,0.0,66.8,2.6,264,2780,0.28,0.00,60.25,0.732,6,0.084,0.000,2534,1697,3483
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.60,78.2,67.1,0.0,270,2845,0.95,0.00,58.90,0.707,6,0.069,0.000,2736,1697,3165
$GC,3032,0.73,202.6,54.9,5.2,290,3133,0.15,2.72,93.12,0.687,4,0.054,0.044,2771,3117,2657
$GC,3233,0.76,228.9,41.3,6.9,306,3259,0.00,2.65,19.33,0.690,6,0.000,0.041,2771,1696,2550
$GC,3447,0.79,252.9,26.6,7.0,323,3472,0.00,2.85,17.88,0.687,4,0.000,0.066,2771,292,2452
$GC,3503,0.81,276.4,22.7,7.0,327,3527,0.00,2.62,17.33,0.683,6,0.000,0.028,2771,1693,2356
$GC,3727,0.92,378.6,9.7,5.6,358,3801,0.15,0.00,70.78,0.656,2,0.064,0.000,2810,1692,1969
$STATE,3802,end climb,SURFACE_DEPTH_REACHED
$STATE,3803,begin surface coast
$FINISH,1.1,1.020767
$STATE,3881,end surface coast,CONTROL_FINISHED_OK
$STATE,3881,begin surface
$SM_CCo,3961,0.00,0.000,0,0,1966,372.61
$SM_GC,1.16,11.12,0.00,0.00,0.039,0.000,0.000,365,2167,1966,-10.28,0.48,372.61
$IRIDIUM_FIX,4722.92,-12251.79,250907,181805
$TT8_MAMPS,0.026845
$HUMID,2175
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,24.0,12.906
$10V_AH,10.2,5.313
$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,24.375,59.825,337.575,0.000,0.000,38.210,41.088,105.232,0.250,0.000,0.000,15.196,695.729,2189.250,424.905,668.368,289.135,33.337,837.472,0.000,656.975,0.000,2.450
$DEVICE_MAMPS,145.730,65.962,731.718,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,256.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9560,382
$CFSIZE,260034560,254001152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,164808,4740.662,-12251.905,25,1.8,26,18.3