version: 66.02
glider: 23
mission: 2
dive: 222
start: 9 28 107 14 12 38
data:
$ID,23
$MISSION,2
$DIVE,222
$D_SURF,2
$D_FLARE,2
$D_TGT,55
$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,15
$T_MISSION,35
$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,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,-28606.736
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,15
$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
$GPS1,140707,4739.313,-12253.002,36,0.9,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.5
$GPS2,141115,4739.305,-12252.970,12,1.0,12,18.3
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.150
$KALMAN_X,11694.4,120.2,53.2,-11898.0,39.9
$KALMAN_Y,5418.3,-460.4,-277.0,-5562.0,-23.0
$MHEAD_RNG_PITCHd_Wd,294.1,417,-25.7,-12.222
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.72,-97.8,0.0,0.0,0,103,0.00,0.00,-79.80,0.000,2,0.000,0.000,364,2144,3723
$GC,106,-1.72,-97.8,2.1,-1.6,13,125,10.48,0.00,-5.12,0.000,6,0.150,0.000,2232,2143,3885
$GC,192,-1.72,-97.8,9.1,-8.2,26,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2144,3885
$GC,264,-1.72,-97.8,15.8,-9.3,37,271,0.00,2.47,0.00,0.000,4,0.000,0.049,2232,3576,3885
$GC,521,-1.72,-97.8,36.9,-8.2,60,528,0.00,2.42,0.00,0.000,6,0.000,0.034,2232,2145,3887
$GC,717,-1.72,-97.8,52.7,-8.5,76,721,0.00,2.45,0.00,0.000,4,0.000,0.050,2232,3570,3887
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,754,-0.31,0.0,55.5,9.2,78,834,1.52,0.00,75.70,0.685,6,0.110,0.000,2532,1849,3484
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,837,1.72,97.8,57.5,0.0,85,923,2.10,2.95,73.03,0.678,4,0.068,0.059,2981,438,3084
$GC,981,1.72,97.8,38.4,18.4,96,988,0.00,2.72,0.00,0.000,6,0.000,0.028,2981,1848,3084
$GC,1182,1.72,97.8,6.5,14.2,118,1188,0.00,2.58,0.00,0.000,4,0.000,0.045,2981,3271,3084
$STATE,1206,end climb,SURFACE_DEPTH_REACHED
$STATE,1206,begin surface coast
$FINISH,1.2,1.020954
$STATE,1213,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1236,118.05,0.623,0,0,2056,350.04
$SM_GC,0.80,0.00,0.00,118.05,0.000,0.000,0.623,363,2134,2056,-10.34,-0.45,350.04
$IRIDIUM_FIX,4722.92,-12251.79,280907,171722
$TT8_MAMPS,0.026845
$HUMID,2135
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,40.3,999.0
$24V_AH,24.0,18.437
$10V_AH,10.2,7.013
$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,26.050,20.650,148.725,118.050,0.000,37.532,37.378,96.938,0.750,0.000,0.000,13.610,267.162,531.043,360.188,243.909,249.922,33.346,528.572,0.000,240.356,0.000,4.021
$DEVICE_MAMPS,149.565,59.059,684.931,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,80.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,123
$CFSIZE,260034560,251899904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280907,143603,4739.380,-12252.955,7,1.4,7,18.3