version: 66.02
glider: 23
mission: 2
dive: 171
start: 9 26 107 19 48 26
data:
$ID,23
$MISSION,2
$DIVE,171
$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,-28695.211
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,194256,4739.230,-12253.458,10,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.6
$GPS2,194703,4739.222,-12253.504,13,1.7,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,0.232
$KALMAN_X,11658.5,172.2,166.1,-12689.1,50.3
$KALMAN_Y,8446.8,77.8,356.6,-9910.2,-53.6
$MHEAD_RNG_PITCHd_Wd,14.8,589,-8.8,-7.407
$D_GRID,127
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.66,-97.8,0.0,0.0,0,84,0.00,0.00,-61.67,0.000,2,0.000,0.000,368,2092,3307
$GC,87,-0.66,-97.8,2.0,-3.1,10,131,11.68,2.47,-25.38,0.000,4,0.147,0.062,2461,3510,3883
$GC,242,-0.66,-97.8,8.4,-5.3,34,249,0.00,2.40,0.00,0.000,6,0.000,0.033,2461,2088,3885
$GC,315,-0.66,-97.8,11.3,-3.8,45,321,0.00,2.85,0.00,0.000,4,0.000,0.050,2461,697,3884
$GC,428,-0.66,-97.8,15.5,-3.9,62,434,0.00,2.78,0.00,0.000,6,0.000,0.030,2461,2104,3885
$GC,500,-0.66,-97.8,17.8,-3.1,73,506,0.00,2.42,0.00,0.000,4,0.000,0.049,2461,3500,3886
$GC,565,-0.66,-97.8,20.0,-3.5,83,569,0.00,2.38,0.00,0.000,6,0.000,0.032,2461,2091,3886
$GC,767,-0.66,-97.8,26.6,-3.2,99,772,0.00,2.88,0.00,0.000,4,0.000,0.051,2461,687,3886
$GC,826,-0.66,-97.8,28.7,-3.6,103,830,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2111,3886
$GC,1021,-0.66,-97.8,35.0,-3.1,118,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2111,3887
$GC,1212,-0.66,-97.8,41.6,-3.9,133,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2112,3887
$GC,1401,-0.66,-97.8,48.7,-3.5,148,1406,0.00,2.92,0.00,0.000,4,0.000,0.050,2461,686,3887
$GC,1452,-0.66,-97.8,50.7,-3.5,151,1459,0.00,2.83,0.00,0.000,6,0.000,0.031,2461,2103,3887
$GC,1649,-0.66,-97.8,57.4,-3.3,167,1653,0.00,2.88,0.00,0.000,4,0.000,0.049,2461,694,3887
$GC,1681,-0.66,-97.8,58.5,-3.7,169,1686,0.00,2.78,0.00,0.000,6,0.000,0.031,2461,2107,3886
$GC,1876,-0.66,-97.8,64.5,-2.9,184,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2106,3887
$GC,2067,-0.66,-97.8,68.9,-2.0,199,2071,0.00,2.42,0.00,0.000,4,0.000,0.051,2461,3501,3886
$GC,2105,-0.66,-97.8,70.1,-3.0,201,2112,0.00,2.38,0.00,0.000,6,0.000,0.035,2461,2089,3887
$GC,2301,-0.66,-97.8,74.2,-2.1,217,2305,0.00,2.85,0.00,0.000,4,0.000,0.053,2461,687,3886
$GC,2320,-0.66,-97.8,74.7,-2.7,218,2324,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2109,3886
$GC,2515,-0.66,-97.8,79.6,-2.4,233,2520,0.00,2.90,0.00,0.000,4,0.000,0.051,2461,691,3887
$GC,2553,-0.66,-97.8,80.6,-2.8,235,2561,0.00,2.80,0.00,0.000,6,0.000,0.030,2461,2096,3887
$STATE,2711,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2711,begin apogee
$GC,2716,-0.31,0.0,84.5,2.3,248,2797,0.40,0.00,75.60,0.739,6,0.084,0.000,2541,1745,3484
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2800,0.66,97.8,84.5,0.0,255,2877,0.98,0.00,73.55,0.720,6,0.071,0.000,2748,1745,3085
$GC,3061,0.73,165.7,70.4,6.1,276,3122,0.00,2.72,50.58,0.706,4,0.000,0.044,2748,3157,2808
$GC,3193,0.81,240.4,62.2,6.0,286,3255,0.15,2.62,55.88,0.692,6,0.046,0.038,2790,1755,2503
$GC,3444,0.81,240.4,43.2,7.8,306,3449,0.00,2.83,0.00,0.000,4,0.000,0.064,2790,336,2502
$GC,3521,0.81,240.4,36.5,8.4,311,3529,0.00,2.67,0.00,0.000,6,0.000,0.028,2790,1770,2502
$GC,3718,0.83,260.1,21.8,7.0,327,3742,0.00,2.95,14.80,0.694,4,0.000,0.061,2790,332,2421
$GC,3781,0.83,260.1,17.1,7.5,334,3788,0.00,2.65,0.00,0.000,6,0.000,0.029,2790,1753,2421
$GC,3854,0.86,287.8,12.1,6.9,345,3879,0.00,2.65,20.55,0.681,4,0.000,0.041,2790,3147,2309
$GC,3899,0.91,330.3,9.2,6.6,352,3936,0.00,2.60,31.33,0.666,6,0.000,0.040,2790,1751,2137
$STATE,3980,end climb,SURFACE_DEPTH_REACHED
$STATE,3980,begin surface coast
$FINISH,0.4,1.018904
$STATE,4100,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4120,13.38,0.713,1,0,2056,350.04
$SM_GC,0.86,0.00,0.00,13.38,0.000,0.000,0.713,366,2125,2056,-10.32,0.71,350.04
$IRIDIUM_FIX,4722.92,-12249.11,260907,222242
$TT8_MAMPS,0.026845
$HUMID,2164
$TCM_TEMP,19.80
$XPDR_PINGS,115
$24V_AH,24.0,14.939
$10V_AH,10.2,5.973
$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,24.175,71.675,322.275,13.375,0.000,39.086,34.872,94.435,29.250,0.000,0.000,14.530,704.388,2329.917,444.793,665.086,287.034,33.328,856.373,0.000,652.812,0.000,3.971
$DEVICE_MAMPS,147.264,64.428,738.621,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,257.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9604,383
$CFSIZE,260034560,253198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260907,205838,4739.186,-12253.356,29,1.5,30,18.3