version: 66.02
glider: 23
mission: 2
dive: 168
start: 9 26 107 15 58 26
data:
$ID,23
$MISSION,2
$DIVE,168
$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,100
$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,-28714.049
$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,2100
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,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
$GPS1,155233,4739.487,-12252.374,9,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.6
$GPS2,155702,4739.482,-12252.364,15,1.3,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.251,-0.139
$KALMAN_X,11344.4,59.2,-19.9,-10658.1,162.3
$KALMAN_Y,8571.2,-55.3,-122.0,-8955.2,364.1
$MHEAD_RNG_PITCHd_Wd,222.7,1046,-8.2,-7.407
$D_GRID,125
$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,20,-0.62,-97.8,0.0,0.0,0,77,0.00,0.00,-55.42,0.000,2,0.000,0.000,370,2124,3211
$GC,80,-0.62,-97.8,2.1,-3.2,9,129,11.73,2.42,-29.40,0.000,4,0.147,0.062,2472,3504,3884
$GC,380,-0.62,-97.8,13.7,-3.1,55,387,0.00,2.38,0.00,0.000,6,0.000,0.033,2472,2094,3886
$GC,452,-0.62,-97.8,15.8,-2.8,66,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2095,3885
$GC,525,-0.62,-97.8,18.0,-3.1,77,531,0.00,2.88,0.00,0.000,4,0.000,0.051,2472,688,3886
$GC,617,-0.62,-97.8,21.2,-3.5,89,622,0.00,2.83,0.00,0.000,6,0.000,0.031,2472,2114,3886
$GC,812,-0.62,-97.8,26.7,-2.8,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2114,3886
$GC,1004,-0.62,-97.8,32.0,-3.0,119,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2114,3887
$GC,1192,-0.62,-97.8,37.9,-2.8,134,1197,0.00,2.92,0.00,0.000,4,0.000,0.050,2472,690,3886
$GC,1237,-0.62,-97.8,39.2,-2.6,137,1242,0.00,2.80,0.00,0.000,6,0.000,0.031,2471,2108,3887
$GC,1433,-0.62,-97.8,44.8,-3.3,152,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2107,3887
$GC,1622,-0.62,-97.8,51.1,-3.4,167,1626,0.00,2.92,0.00,0.000,4,0.000,0.051,2472,686,3887
$GC,1681,-0.62,-97.8,53.4,-3.8,171,1686,0.00,2.80,0.00,0.000,6,0.000,0.032,2472,2098,3887
$GC,1876,-0.62,-97.8,60.2,-3.5,186,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2097,3887
$GC,2067,-0.62,-97.8,67.1,-3.7,201,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2097,3887
$GC,2256,-0.62,-97.8,73.6,-3.3,216,2261,0.00,2.90,0.00,0.000,4,0.000,0.051,2472,687,3887
$GC,2301,-0.62,-97.8,75.1,-3.3,219,2306,0.00,2.80,0.00,0.000,6,0.000,0.032,2472,2104,3887
$GC,2497,-0.62,-97.8,80.7,-2.6,234,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2103,3887
$GC,2686,-0.62,-97.8,85.9,-2.9,249,2691,0.00,2.90,0.00,0.000,4,0.000,0.051,2472,689,3887
$STATE,2709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2716,-0.31,0.0,86.6,3.2,250,2795,0.30,0.00,75.47,0.746,6,0.084,0.000,2535,1845,3484
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2798,0.62,97.8,87.9,0.0,257,2879,1.00,0.00,73.65,0.723,6,0.069,0.000,2743,1845,3085
$GC,3068,0.76,227.6,75.8,5.1,279,3173,0.15,2.92,97.38,0.705,4,0.058,0.055,2779,448,2556
$GC,3265,0.76,229.3,62.3,7.4,294,3270,0.00,2.70,0.00,0.000,6,0.000,0.031,2779,1854,2555
$GC,3460,0.84,301.0,49.3,6.1,309,3522,0.00,2.92,54.92,0.691,4,0.000,0.060,2779,444,2255
$GC,3579,0.86,318.1,41.1,7.1,318,3600,0.00,2.70,12.52,0.700,6,0.000,0.029,2779,1847,2186
$GC,3789,0.89,343.4,27.1,7.0,335,3814,0.12,2.90,18.80,0.692,4,0.064,0.061,2809,442,2083
$GC,3913,0.89,343.4,16.5,8.7,347,3920,0.00,2.67,0.00,0.000,6,0.000,0.029,2809,1849,2083
$GC,3985,0.89,343.4,11.0,7.6,358,3992,0.00,2.88,0.00,0.000,4,0.000,0.062,2809,443,2083
$GC,4011,0.89,343.4,8.7,8.3,362,4017,0.00,2.67,0.00,0.000,6,0.000,0.030,2809,1850,2083
$STATE,4067,end climb,SURFACE_DEPTH_REACHED
$STATE,4068,begin surface coast
$FINISH,0.4,1.020376
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4181,begin surface
$SM_CCo,4201,3.72,0.769,0,0,2057,350.04
$SM_GC,2.01,0.00,0.00,3.72,0.000,0.000,0.769,366,2120,2057,-10.32,0.57,350.04
$IRIDIUM_FIX,4726.11,-12253.53,260907,181829
$TT8_MAMPS,0.026078
$HUMID,2149
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.2,37.1
$24V_AH,24.0,14.698
$10V_AH,10.2,5.890
$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,24.350,55.750,332.750,3.725,0.000,34.394,40.962,109.204,1.500,0.000,0.000,17.185,717.288,2396.827,424.022,678.142,303.483,33.337,828.169,0.000,661.348,0.000,8.370
$DEVICE_MAMPS,147.264,62.127,746.291,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,261.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9587,388
$CFSIZE,260034560,253308928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,170946,4739.513,-12252.614,11,2.3,31,18.3