version: 66.02
glider: 23
mission: 2
dive: 173
start: 9 26 107 22 27 7
data:
$ID,23
$MISSION,2
$DIVE,173
$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,-28684.969
$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,27
$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
$GPS1,221451,4739.215,-12253.276,9,1.4,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.8
$GPS2,222544,4739.197,-12253.290,10,1.3,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,0.271
$KALMAN_X,11414.4,139.6,75.8,-12055.2,-185.5
$KALMAN_Y,7621.5,-36.8,65.2,-8726.3,-444.0
$MHEAD_RNG_PITCHd_Wd,0.5,512,-8.2,-7.407
$D_GRID,128
$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,-0.62,-97.8,0.0,0.0,0,84,0.00,0.00,-61.75,0.000,2,0.000,0.000,365,2092,3339
$GC,87,-0.62,-97.8,2.0,-2.9,10,130,11.75,2.47,-24.17,0.000,4,0.149,0.061,2469,3510,3884
$GC,184,-0.62,-97.8,5.2,-6.1,25,190,0.00,2.42,0.00,0.000,6,0.000,0.032,2469,2080,3885
$GC,256,-0.62,-97.8,8.3,-3.3,36,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2080,3886
$GC,328,-0.62,-97.8,10.5,-3.0,47,334,0.00,2.85,0.00,0.000,4,0.000,0.049,2469,689,3886
$GC,366,-0.62,-97.8,11.7,-3.4,53,373,0.00,2.80,0.00,0.000,6,0.000,0.029,2469,2109,3886
$GC,439,-0.62,-97.8,13.3,-2.4,64,445,0.00,2.42,0.00,0.000,4,0.000,0.048,2469,3504,3886
$GC,477,-0.62,-97.8,14.4,-2.9,70,484,0.00,2.38,0.00,0.000,6,0.000,0.031,2469,2095,3886
$GC,550,-0.62,-97.8,16.2,-2.6,81,556,0.00,2.88,0.00,0.000,4,0.000,0.050,2469,693,3887
$GC,636,-0.62,-97.8,19.0,-3.5,94,642,0.00,2.80,0.00,0.000,6,0.000,0.030,2469,2110,3887
$GC,706,-0.62,-97.8,21.6,-3.7,102,710,0.00,2.42,0.00,0.000,4,0.000,0.049,2469,3507,3888
$GC,744,-0.62,-97.8,23.0,-3.6,104,751,0.00,2.40,0.00,0.000,6,0.000,0.032,2469,2101,3888
$GC,940,-0.62,-97.8,29.5,-3.5,120,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2102,3888
$GC,1133,-0.62,-97.8,36.1,-3.6,135,1137,0.00,2.90,0.00,0.000,4,0.000,0.051,2469,689,3888
$GC,1183,-0.62,-97.8,38.2,-3.7,138,1191,0.00,2.83,0.00,0.000,6,0.000,0.029,2469,2106,3888
$GC,1380,-0.62,-97.8,44.4,-3.1,154,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2104,3888
$GC,1571,-0.62,-97.8,50.4,-3.5,169,1576,0.00,2.90,0.00,0.000,4,0.000,0.050,2469,689,3888
$GC,1609,-0.62,-97.8,51.7,-3.4,171,1616,0.00,2.83,0.00,0.000,6,0.000,0.030,2469,2105,3888
$GC,1805,-0.62,-97.8,57.5,-2.9,187,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2105,3888
$GC,1996,-0.62,-97.8,62.6,-2.2,202,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2104,3888
$GC,2185,-0.62,-97.8,66.8,-2.2,217,2189,0.00,2.90,0.00,0.000,4,0.000,0.049,2469,690,3888
$GC,2244,-0.62,-97.8,68.3,-2.9,221,2248,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2108,3888
$GC,2439,-0.62,-97.8,72.6,-2.4,236,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2107,3888
$GC,2629,-0.62,-97.8,76.8,-2.3,251,2634,0.00,2.90,0.00,0.000,4,0.000,0.049,2469,692,3888
$GC,2667,-0.62,-97.8,77.9,-2.8,253,2674,0.00,2.80,0.00,0.000,6,0.000,0.031,2469,2100,3888
$STATE,2710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2710,begin apogee
$GC,2715,-0.31,0.0,78.9,2.4,257,2797,0.35,0.00,75.85,0.732,6,0.081,0.000,2540,1748,3483
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2800,0.62,97.8,79.3,0.0,264,2877,0.95,0.00,73.68,0.710,6,0.070,0.000,2741,1748,3085
$GC,3062,0.75,216.0,65.8,5.3,285,3159,0.15,2.67,88.68,0.692,4,0.058,0.044,2777,3153,2602
$GC,3239,0.78,248.5,54.0,6.8,299,3269,0.00,2.60,23.98,0.692,6,0.000,0.040,2777,1754,2470
$GC,3459,0.80,263.6,39.0,7.1,316,3475,0.00,2.88,11.35,0.706,4,0.000,0.063,2777,330,2408
$GC,3536,0.80,263.6,33.0,8.3,322,3541,0.00,2.67,0.00,0.000,6,0.000,0.028,2777,1769,2407
$GC,3739,0.85,312.2,19.5,6.5,338,3782,0.00,2.92,35.62,0.674,4,0.000,0.061,2777,336,2211
$GC,3821,0.85,312.2,13.9,7.6,351,3828,0.00,2.65,0.00,0.000,6,0.000,0.028,2777,1754,2210
$GC,3893,0.95,401.5,9.7,5.8,362,3961,0.17,0.00,65.00,0.656,2,0.060,0.000,2818,1756,1859
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FINISH,0.9,1.020623
$STATE,4040,end surface coast,CONTROL_FINISHED_OK
$STATE,4040,begin surface
$SM_CCo,4120,0.00,0.000,0,0,1854,399.35
$SM_GC,1.06,11.15,0.00,0.00,0.040,0.000,0.000,366,2113,1854,-10.27,0.37,399.35
$IRIDIUM_FIX,4722.92,-12256.21,270907,020245
$TT8_MAMPS,0.026845
$HUMID,2149
$TCM_TEMP,19.70
$XPDR_PINGS,22
$24V_AH,24.0,15.112
$10V_AH,10.2,6.032
$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,24.525,66.525,374.150,0.000,0.000,120.253,111.271,202.413,6.000,0.000,0.000,17.360,693.919,2422.980,467.773,661.476,569.995,33.331,884.918,0.000,645.020,0.000,3.972
$DEVICE_MAMPS,148.798,62.894,732.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,257.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9574,385
$CFSIZE,260034560,253128704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,233707,4739.345,-12253.197,39,0.9,40,18.3