version: 66.02
glider: 23
mission: 2
dive: 322
start: 10 2 107 16 9 11
data:
$ID,23
$MISSION,2
$DIVE,322
$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,-28332.367
$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,2035
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,31
$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,0
$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
$GPS1,160253,4739.556,-12252.898,10,2.8,29,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.9
$GPS2,160747,4739.595,-12252.856,13,2.8,32,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.107
$KALMAN_X,19362.5,336.6,-46.6,-19540.4,-40.2
$KALMAN_Y,12016.7,336.5,-118.8,-12585.0,-47.9
$MHEAD_RNG_PITCHd_Wd,226.3,492,-15.3,-9.048
$D_GRID,120
$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,-1.09,-117.3,0.0,0.0,0,97,0.00,0.00,-72.80,0.000,2,0.000,0.000,365,2037,3490
$GC,101,-1.09,-117.3,2.0,-4.0,12,138,11.18,3.00,-16.02,0.000,4,0.148,0.058,2368,613,3963
$GC,192,-1.09,-117.3,8.2,-7.4,26,198,0.00,2.83,0.00,0.000,6,0.000,0.031,2368,2026,3964
$GC,265,-1.09,-117.3,14.2,-8.0,37,271,0.00,2.47,0.00,0.000,4,0.000,0.048,2368,3443,3966
$GC,331,-1.09,-117.3,19.7,-8.8,47,337,0.00,2.42,0.00,0.000,6,0.000,0.035,2368,2025,3966
$GC,400,-1.09,-117.3,25.0,-7.5,53,404,0.00,2.50,0.00,0.000,4,0.000,0.048,2368,3450,3965
$GC,438,-1.09,-117.3,28.0,-7.8,55,445,0.00,2.42,0.00,0.000,6,0.000,0.035,2368,2035,3966
$GC,635,-1.09,-117.3,42.4,-7.3,71,639,0.00,2.47,0.00,0.000,4,0.000,0.048,2368,3446,3966
$GC,686,-1.09,-117.3,46.7,-8.5,74,693,0.00,2.45,0.00,0.000,6,0.000,0.035,2368,2036,3966
$GC,883,-1.09,-117.3,61.2,-7.3,90,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2036,3966
$GC,1074,-1.09,-117.3,75.7,-7.6,105,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2036,3966
$GC,1261,-1.09,-117.3,90.0,-7.8,120,1265,0.00,2.47,0.00,0.000,4,0.000,0.050,2368,3448,3966
$GC,1286,-1.09,-117.3,91.9,-7.5,121,1293,0.00,2.45,0.00,0.000,6,0.000,0.036,2368,2031,3966
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1348,-0.31,0.0,95.6,6.3,126,1442,0.85,0.00,90.95,0.747,6,0.086,0.000,2540,1880,3484
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1445,1.09,117.3,97.8,0.0,134,1538,1.42,0.00,88.78,0.729,6,0.064,0.000,2845,1880,3005
$GC,1726,1.14,165.1,78.4,7.4,157,1763,0.00,0.00,35.35,0.716,6,0.000,0.000,2843,1880,2811
$GC,1951,1.14,165.1,57.4,10.1,175,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1880,2810
$GC,2142,1.14,165.1,39.3,9.2,190,2146,0.00,2.85,0.00,0.000,4,0.000,0.062,2843,483,2810
$GC,2206,1.14,165.1,32.1,10.8,194,2213,0.00,2.75,0.00,0.000,6,0.000,0.028,2843,1901,2810
$GC,2406,1.14,165.1,12.5,10.4,215,2412,0.00,2.90,0.00,0.000,4,0.000,0.058,2843,482,2810
$GC,2431,1.14,165.1,9.8,10.4,219,2438,0.00,2.70,0.00,0.000,6,0.000,0.029,2843,1888,2810
$STATE,2481,end climb,SURFACE_DEPTH_REACHED
$STATE,2482,begin surface coast
$FINISH,0.2,1.015906
$STATE,2542,end surface coast,CONTROL_FINISHED_OK
$STATE,2542,begin surface
$SM_CCo,2564,87.93,0.654,0,0,2056,350.04
$SM_GC,0.76,0.00,0.00,87.93,0.000,0.000,0.654,364,2061,2056,-10.33,0.74,350.04
$IRIDIUM_FIX,4722.92,-12253.53,021007,191958
$TT8_MAMPS,0.026845
$HUMID,2135
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,36.9
$24V_AH,24.0,26.020
$10V_AH,10.2,9.478
$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,24.625,37.350,215.075,87.925,0.000,38.269,35.755,110.262,1.000,0.000,0.000,34.950,456.006,1400.323,416.166,411.745,309.956,33.328,665.924,0.000,385.262,0.000,5.546
$DEVICE_MAMPS,148.031,62.127,747.058,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,157.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6446,236
$CFSIZE,260034560,249131008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,165438,4739.453,-12253.271,30,2.0,30,18.3