version: 66.02
glider: 23
mission: 2
dive: 348
start: 10 3 107 16 31 31
data:
$ID,23
$MISSION,2
$DIVE,348
$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,-28280.895
$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,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,39
$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,540
$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
$GPS1,162059,4744.117,-12249.750,10,2.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.7
$GPS2,163007,4744.117,-12249.730,11,1.6,27,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL2
$TGT_LATLONG,4744.600,-12249.600
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.046,0.255
$KALMAN_X,23108.8,45.1,44.6,-19186.3,5.6
$KALMAN_Y,13769.3,-143.0,46.3,-5645.2,18.3
$MHEAD_RNG_PITCHd_Wd,351.9,910,-14.5,-9.048
$D_GRID,172
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.03,-117.3,0.0,0.0,0,98,0.00,0.00,-72.78,0.000,2,0.000,0.000,365,2116,3500
$GC,102,-1.03,-117.3,2.1,-4.8,12,139,11.30,3.05,-15.45,0.000,4,0.150,0.058,2380,687,3965
$GC,383,-1.03,-117.3,24.6,-6.8,50,390,0.00,2.83,0.00,0.000,6,0.000,0.031,2380,2087,3966
$GC,579,-1.03,-117.3,37.0,-6.2,66,583,0.00,2.47,0.00,0.000,4,0.000,0.050,2380,3507,3967
$GC,631,-1.03,-117.3,40.7,-7.1,69,638,0.00,2.40,0.00,0.000,6,0.000,0.034,2380,2095,3967
$GC,827,-1.03,-117.3,53.3,-6.5,85,832,0.00,2.90,0.00,0.000,4,0.000,0.051,2380,684,3967
$GC,860,-1.03,-117.3,55.5,-6.9,87,864,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2104,3967
$GC,1056,-1.03,-117.3,68.6,-6.7,102,1060,0.00,2.95,0.00,0.000,4,0.000,0.049,2380,684,3967
$GC,1088,-1.03,-117.3,70.9,-7.2,104,1093,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2106,3967
$GC,1284,-1.03,-117.3,84.2,-6.7,119,1288,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3515,3967
$GC,1349,-1.03,-117.3,89.2,-7.4,123,1355,0.00,2.42,0.00,0.000,6,0.000,0.035,2380,2101,3967
$STATE,1441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1448,-0.31,0.0,95.9,7.0,131,1543,0.77,0.00,91.18,0.742,6,0.087,0.000,2537,1886,3484
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1546,1.03,117.3,97.8,0.0,139,1643,1.40,0.00,88.90,0.722,6,0.070,0.000,2830,1886,3004
$GC,1833,1.04,123.7,76.2,8.8,162,1845,0.00,2.62,4.78,0.761,4,0.000,0.044,2830,3298,2978
$GC,1878,1.04,124.6,72.0,9.0,165,1884,0.00,2.55,0.00,0.000,6,0.000,0.039,2830,1894,2978
$GC,2074,1.05,130.6,54.6,8.9,181,2086,0.00,2.92,4.53,0.762,4,0.000,0.059,2831,469,2950
$GC,2131,1.05,130.6,48.9,9.8,185,2139,0.00,2.75,0.00,0.000,6,0.000,0.029,2830,1897,2950
$GC,2328,1.07,147.7,31.5,8.5,201,2343,0.00,0.00,12.95,0.719,6,0.000,0.000,2831,1899,2881
$GC,2532,1.10,181.2,13.9,8.0,222,2562,0.00,0.00,24.52,0.690,6,0.000,0.000,2831,1900,2744
$GC,2631,1.18,255.2,7.2,6.7,237,2662,0.15,0.00,28.85,0.676,2,0.048,0.000,2873,1900,2586
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.2,1.010766
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2756,62.65,0.649,0,0,2057,350.04
$SM_GC,0.83,0.00,0.00,62.65,0.000,0.000,0.649,367,2118,2057,-10.32,0.51,350.04
$IRIDIUM_FIX,4726.11,-12252.58,031007,202039
$TT8_MAMPS,0.026845
$HUMID,2121
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.8,999.0
$24V_AH,24.0,27.997
$10V_AH,10.2,10.074
$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,25.000,38.875,255.700,62.650,0.000,78.897,73.148,222.522,1.750,0.000,0.000,29.163,477.887,1541.952,414.913,461.753,517.862,33.329,699.673,0.000,438.219,0.000,7.062
$DEVICE_MAMPS,150.332,59.059,761.631,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,168.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6445,253
$CFSIZE,260034560,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,171926,4744.418,-12249.605,11,1.5,11,18.3