version: 66.02
glider: 23
mission: 2
dive: 286
start: 10 1 107 5 16 57
data:
$ID,23
$MISSION,2
$DIVE,286
$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,712.3512
$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,-28446.174
$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
$GPS1,050034,4740.970,-12250.480,28,2.1,47,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-65.5
$GPS2,051533,4741.055,-12250.312,9,1.5,9,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0N
$TGT_LATLONG,4740.900,-12250.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.246,-0.079
$KALMAN_X,14900.0,208.9,60.4,-11891.1,90.1
$KALMAN_Y,9204.3,256.3,135.7,-7238.6,-35.0
$MHEAD_RNG_PITCHd_Wd,233.9,673,-14.5,-9.048
$D_GRID,91
$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,-117.3,0.0,0.0,0,104,0.00,0.00,-79.07,0.000,2,0.000,0.000,370,2142,3624
$GC,107,-1.03,-117.3,2.1,-4.1,13,138,11.27,3.00,-11.48,0.000,4,0.151,0.059,2379,704,3963
$GC,211,-1.03,-117.3,10.1,-8.9,29,217,0.00,2.83,0.00,0.000,6,0.000,0.030,2379,2120,3964
$GC,283,-1.03,-117.3,15.9,-6.3,40,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2119,3964
$GC,355,-1.03,-117.3,20.2,-5.4,51,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2119,3964
$GC,545,-1.03,-117.3,30.9,-5.7,66,550,0.00,2.47,0.00,0.000,4,0.000,0.051,2378,3550,3964
$GC,658,-1.03,-117.3,37.6,-5.7,74,662,0.00,2.40,0.00,0.000,6,0.000,0.034,2379,2124,3965
$GC,854,-1.03,-117.3,48.2,-5.7,89,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2124,3965
$GC,1044,-1.03,-117.3,59.5,-5.7,104,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2124,3965
$GC,1232,-1.03,-117.3,71.6,-6.5,119,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2123,3965
$GC,1423,-1.03,-117.3,82.5,-5.9,134,1427,0.00,2.47,0.00,0.000,4,0.000,0.051,2379,3547,3965
$STATE,1657,end dive,NO_VERTICAL_VELOCITY
$STATE,1657,begin apogee
$GC,1666,-0.31,0.0,87.8,0.0,151,1759,0.73,0.00,90.50,0.751,6,0.066,0.000,2537,1747,3484
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1763,1.03,117.3,87.7,0.0,159,1861,1.38,2.67,88.70,0.716,4,0.061,0.041,2832,3175,3004
$GC,2047,1.03,117.3,64.7,9.4,181,2052,0.00,2.65,0.00,0.000,6,0.000,0.044,2831,1744,3003
$GC,2250,1.03,117.3,46.0,9.4,197,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1744,3003
$GC,2440,1.03,117.3,28.9,9.1,212,2445,0.00,2.62,0.00,0.000,4,0.000,0.042,2832,3174,3003
$GC,2478,1.04,119.3,25.1,9.0,214,2486,0.00,2.67,0.00,0.000,6,0.000,0.041,2832,1741,3002
$GC,2681,1.07,152.7,8.7,8.0,240,2713,0.00,2.72,25.98,0.684,4,0.000,0.041,2831,3165,2861
$STATE,2736,end climb,SURFACE_DEPTH_REACHED
$STATE,2737,begin surface coast
$FINISH,0.1,1.011843
$STATE,2817,end surface coast,CONTROL_FINISHED_OK
$STATE,2817,begin surface
$SM_CCo,2839,271.33,0.624,0,0,580,712.35
$SM_GC,0.61,0.00,0.00,271.33,0.000,0.000,0.624,367,2118,580,-10.32,-0.31,712.35
$IRIDIUM_FIX,4722.92,-12249.11,011007,090900
$TT8_MAMPS,0.026078
$HUMID,2105
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,70.1,20.3
$24V_AH,24.0,23.064
$10V_AH,10.2,8.527
$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,24.525,31.650,205.175,271.325,0.000,199.204,375.841,0.000,2.250,0.000,0.000,10.636,501.521,1809.932,563.893,482.700,698.650,33.334,852.693,0.000,475.469,0.000,8.777
$DEVICE_MAMPS,151.099,59.059,750.893,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,175.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6421,261
$CFSIZE,260034560,250093568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,060939,4740.942,-12250.271,7,1.3,7,18.3