version: 66.02
glider: 23
mission: 2
dive: 355
start: 10 3 107 23 0 54
data:
$ID,23
$MISSION,2
$DIVE,355
$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,-1
$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,-28299.891
$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,22
$R_STBD_OVSHOOT,50
$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
$GPS1,224437,4746.356,-12249.156,41,1.9,41,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.5
$GPS2,225939,4746.443,-12249.144,11,1.0,11,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.250,-0.068
$KALMAN_X,23428.1,9.5,8.6,-18700.6,49.2
$KALMAN_Y,14175.7,26.1,46.6,-1915.3,25.1
$MHEAD_RNG_PITCHd_Wd,236.5,1421,-14.5,-9.048
$D_GRID,156
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,105,0.00,0.00,-77.10,0.000,2,0.000,0.000,364,2135,3599
$GC,109,-1.03,-117.3,2.2,-5.3,13,140,11.23,3.03,-11.23,0.000,4,0.147,0.057,2379,683,3966
$GC,226,-1.03,-117.3,13.4,-10.8,31,232,0.00,2.83,0.00,0.000,6,0.000,0.029,2379,2093,3967
$GC,298,-1.03,-117.3,19.1,-7.0,42,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2093,3966
$GC,369,-1.03,-117.3,23.8,-6.6,49,374,0.00,2.95,0.00,0.000,4,0.000,0.048,2379,678,3967
$GC,402,-1.03,-117.3,26.1,-6.9,51,407,0.00,2.88,0.00,0.000,6,0.000,0.029,2379,2108,3967
$GC,597,-1.03,-117.3,38.7,-6.9,66,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2107,3967
$GC,791,-1.03,-117.3,50.5,-6.5,81,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2107,3968
$GC,978,-1.03,-117.3,62.5,-6.4,96,983,0.00,2.97,0.00,0.000,4,0.000,0.049,2379,682,3967
$GC,1011,-1.03,-117.3,64.8,-7.0,98,1016,0.00,2.88,0.00,0.000,6,0.000,0.031,2379,2114,3967
$GC,1207,-1.03,-117.3,77.4,-6.4,113,1211,0.00,2.42,0.00,0.000,4,0.000,0.051,2379,3511,3968
$GC,1287,-1.03,-117.3,83.1,-7.2,119,1291,0.00,2.40,0.00,0.000,6,0.000,0.035,2377,2090,3968
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1474,-0.31,0.0,95.6,6.4,133,1569,0.80,0.00,91.50,0.740,6,0.086,0.000,2541,1883,3484
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1572,1.03,117.3,97.1,0.0,141,1669,1.35,0.00,88.88,0.721,6,0.067,0.000,2829,1883,3004
$GC,1858,1.04,124.9,75.3,8.8,164,1870,0.00,0.00,5.55,0.762,6,0.000,0.000,2829,1883,2974
$GC,2059,1.04,124.9,57.2,9.2,180,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1883,2973
$GC,2250,1.05,130.4,40.2,8.9,195,2261,0.00,0.00,3.58,0.766,6,0.000,0.000,2829,1883,2951
$GC,2450,1.07,153.2,23.2,8.3,211,2474,0.00,2.90,16.88,0.706,4,0.000,0.059,2829,486,2857
$GC,2521,1.09,170.2,17.0,8.5,219,2540,0.00,2.72,12.30,0.706,6,0.000,0.029,2829,1898,2790
$GC,2605,1.16,231.3,10.7,7.1,232,2654,0.15,0.00,45.17,0.673,6,0.046,0.000,2870,1898,2540
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,0.2,1.011360
$STATE,2719,end surface coast,CONTROL_FINISHED_OK
$STATE,2719,begin surface
$SM_CCo,2742,57.95,0.652,0,0,2057,350.04
$SM_GC,0.74,0.00,0.00,57.95,0.000,0.000,0.652,363,2126,2057,-10.34,0.76,350.04
$IRIDIUM_FIX,4729.30,-12249.89,041007,020235
$TT8_MAMPS,0.026845
$HUMID,2113
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,28.550
$10V_AH,10.2,10.235
$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,24.850,28.825,263.850,57.950,0.000,155.308,290.576,166.882,1.750,0.000,0.000,12.502,469.832,1680.442,409.751,414.173,765.753,33.338,679.496,0.000,408.404,0.000,9.262
$DEVICE_MAMPS,147.264,59.059,766.233,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6453,250
$CFSIZE,260034560,248315904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,234855,4746.369,-12249.582,31,1.4,36,18.3