version: 66.02
glider: 23
mission: 2
dive: 284
start: 10 1 107 3 11 51
data:
$ID,23
$MISSION,2
$DIVE,284
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,35
$T_MISSION,120
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-28447.746
$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,2130
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,36
$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
$GPS1,030614,4741.501,-12250.534,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.0
$GPS2,031027,4741.545,-12250.516,16,1.4,16,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,-0.248
$KALMAN_X,14429.3,158.2,8.2,-11565.2,16.1
$KALMAN_Y,9110.4,299.9,102.0,-6248.1,52.8
$MHEAD_RNG_PITCHd_Wd,178.1,1247,-14.5,-9.048
$D_GRID,118
$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,22,-1.03,-117.3,0.0,0.0,0,97,0.00,0.00,-73.50,0.000,2,0.000,0.000,367,2134,3506
$GC,101,-1.03,-117.3,2.0,-4.7,12,131,11.27,0.00,-16.42,0.000,6,0.149,0.000,2379,2134,3962
$GC,197,-1.03,-117.3,6.8,-6.5,27,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2137,3963
$GC,270,-1.03,-117.3,12.6,-8.6,38,276,0.00,2.42,0.00,0.000,4,0.000,0.051,2379,3538,3964
$GC,296,-1.03,-117.3,14.2,-6.1,42,302,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2129,3964
$GC,368,-1.03,-117.3,18.8,-6.4,53,374,0.00,2.92,0.00,0.000,4,0.000,0.051,2379,716,3965
$GC,447,-1.03,-117.3,24.2,-6.4,61,452,0.00,2.80,0.00,0.000,6,0.000,0.031,2380,2124,3964
$GC,642,-1.03,-117.3,35.4,-6.0,76,647,0.00,2.45,0.00,0.000,4,0.000,0.051,2379,3537,3964
$GC,786,-1.03,-117.3,46.0,-7.8,86,793,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2130,3964
$GC,983,-1.03,-117.3,59.1,-6.6,102,987,0.00,2.95,0.00,0.000,4,0.000,0.053,2379,708,3964
$GC,1034,-1.03,-117.3,62.3,-6.5,105,1041,0.00,2.85,0.00,0.000,6,0.000,0.031,2379,2132,3964
$GC,1231,-1.03,-117.3,75.1,-6.1,121,1235,0.00,2.45,0.00,0.000,4,0.000,0.053,2379,3552,3964
$GC,1333,-1.03,-117.3,80.4,-5.7,128,1337,0.00,2.38,0.00,0.000,6,0.000,0.035,2378,2130,3965
$GC,1529,-1.03,-117.3,92.3,-5.3,143,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2131,3965
$STATE,1577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1577,begin apogee
$GC,1584,-0.31,0.0,95.1,5.6,147,1678,0.80,0.00,91.25,0.746,6,0.087,0.000,2541,1736,3483
$STATE,1679,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1682,1.03,117.3,97.6,0.0,155,1779,1.38,2.70,88.35,0.724,4,0.067,0.043,2833,3166,3005
$GC,1807,1.07,153.4,91.4,7.9,165,1844,0.00,2.65,26.90,0.725,6,0.000,0.042,2833,1749,2857
$GC,2033,1.07,153.4,67.8,11.2,183,2037,0.00,2.83,0.00,0.000,4,0.000,0.064,2833,334,2857
$GC,2057,1.07,153.4,65.0,10.9,184,2065,0.00,2.70,0.00,0.000,6,0.000,0.028,2833,1760,2857
$GC,2254,1.07,153.4,45.1,9.6,200,2258,0.00,2.58,0.00,0.000,4,0.000,0.042,2833,3162,2857
$GC,2299,1.07,153.4,40.6,10.0,203,2304,0.00,2.62,0.00,0.000,6,0.000,0.041,2833,1742,2856
$GC,2495,1.07,153.4,22.2,9.8,218,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1742,2855
$GC,2692,1.11,188.0,5.7,7.9,246,2705,0.00,0.00,11.00,0.701,2,0.000,0.000,2833,1742,2796
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,0.2,1.000900
$STATE,2779,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2801,86.45,0.653,0,0,2057,350.04
$SM_GC,0.78,0.00,0.00,86.45,0.000,0.000,0.653,364,2135,2057,-10.33,0.14,350.04
$IRIDIUM_FIX,4722.92,-12249.11,011007,060618
$TT8_MAMPS,0.026078
$HUMID,2130
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,22.881
$10V_AH,10.2,8.473
$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,24.675,43.675,217.500,86.450,0.000,40.110,29.481,95.336,1.250,0.000,0.000,17.869,507.490,1504.905,406.087,479.948,288.850,33.331,705.692,0.000,466.892,0.000,7.068
$DEVICE_MAMPS,148.798,63.661,745.524,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,259
$CFSIZE,260034560,250150912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,040125,4741.239,-12250.550,26,1.8,43,18.3