version: 66.02
glider: 23
mission: 2
dive: 387
start: 10 5 107 9 52 52
data:
$ID,23
$MISSION,2
$DIVE,387
$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,45
$T_MISSION,90
$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,110
$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,450
$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,-28258.707
$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,33
$R_STBD_OVSHOOT,42
$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
$GPS1,093441,4746.260,-12250.243,8,2.8,28,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.2
$GPS2,095137,4746.280,-12250.253,12,1.5,29,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,-0.058
$KALMAN_X,22179.0,-68.6,-50.3,-18696.6,-28.3
$KALMAN_Y,13906.1,-163.5,-20.6,-1687.8,35.4
$MHEAD_RNG_PITCHd_Wd,88.3,2007,-13.6,-7.037
$D_GRID,153
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.97,-107.5,0.0,0.0,0,117,0.00,0.00,-90.90,0.000,2,0.000,0.000,365,2118,3484
$GC,123,-0.97,-107.5,2.2,-3.4,15,155,11.38,3.00,-13.65,0.000,4,0.150,0.059,2394,692,3922
$GC,340,-0.97,-107.5,18.7,-6.5,48,346,0.00,2.83,0.00,0.000,6,0.000,0.030,2394,2097,3923
$GC,417,-0.97,-107.5,23.3,-6.0,56,421,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,3512,3923
$GC,476,-0.97,-107.5,27.3,-6.7,60,482,0.00,2.38,0.00,0.000,6,0.000,0.033,2394,2108,3923
$GC,672,-0.97,-107.5,39.2,-6.2,76,677,0.00,2.95,0.00,0.000,4,0.000,0.051,2394,689,3924
$GC,711,-0.97,-107.5,41.8,-6.7,78,717,0.00,2.85,0.00,0.000,6,0.000,0.031,2394,2104,3924
$GC,907,-0.97,-107.5,53.4,-6.0,94,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2103,3924
$GC,1099,-0.97,-107.5,64.8,-6.1,109,1103,0.00,2.97,0.00,0.000,4,0.000,0.051,2394,686,3924
$GC,1132,-0.97,-107.5,67.0,-6.7,111,1136,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2111,3924
$GC,1329,-0.97,-107.5,78.9,-6.3,126,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2111,3924
$GC,1518,-0.97,-107.5,90.1,-6.1,141,1522,0.00,3.00,0.00,0.000,4,0.000,0.051,2394,680,3924
$GC,1551,-0.97,-107.5,92.2,-6.0,143,1555,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2107,3924
$STATE,1605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1605,begin apogee
$GC,1612,-0.31,0.0,95.5,5.9,147,1697,0.73,0.00,82.57,0.746,6,0.085,0.000,2540,1872,3484
$STATE,1698,end apogee,CONTROL_FINISHED_OK
$STATE,1698,begin climb
$GC,1702,0.97,107.5,97.3,0.0,154,1791,1.30,2.92,80.97,0.729,4,0.067,0.055,2816,487,3044
$GC,1804,0.97,107.5,91.9,7.2,162,1812,0.00,2.75,0.00,0.000,6,0.000,0.029,2816,1894,3044
$GC,2001,0.97,107.5,76.9,7.7,178,2005,0.00,2.58,0.00,0.000,4,0.000,0.047,2816,3304,3044
$GC,2039,0.97,107.5,73.6,8.8,180,2046,0.00,2.58,0.00,0.000,6,0.000,0.038,2816,1899,3043
$GC,2236,0.97,107.5,58.2,8.0,196,2240,0.00,2.90,0.00,0.000,4,0.000,0.058,2816,471,3043
$GC,2260,0.97,107.5,56.0,8.5,197,2267,0.00,2.75,0.00,0.000,6,0.000,0.030,2816,1897,3044
$GC,2457,0.97,107.5,40.9,7.7,213,2461,0.00,2.55,0.00,0.000,4,0.000,0.047,2816,3298,3044
$GC,2482,0.97,107.5,38.9,8.0,214,2489,0.00,2.58,0.00,0.000,6,0.000,0.038,2816,1874,3043
$GC,2678,0.97,107.5,24.6,7.4,230,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1875,3043
$GC,2873,0.99,131.3,11.3,6.2,254,2897,0.00,2.65,17.25,0.703,4,0.000,0.044,2816,3299,2947
$GC,2905,1.00,136.5,9.2,6.8,259,2917,0.00,2.58,3.70,0.742,6,0.000,0.037,2816,1881,2927
$GC,2986,1.07,197.1,5.3,4.9,271,2993,0.12,0.00,5.03,0.734,2,0.053,0.000,2850,1881,2898
$STATE,2994,end climb,SURFACE_DEPTH_REACHED
$STATE,2994,begin surface coast
$FINISH,0.2,1.013077
$STATE,3111,end surface coast,CONTROL_FINISHED_OK
$STATE,3111,begin surface
$SM_CCo,3133,145.35,0.649,0,0,1648,450.13
$SM_GC,0.89,0.00,0.00,145.35,0.000,0.000,0.649,364,2121,1648,-10.33,0.59,450.13
$IRIDIUM_FIX,4729.30,-12255.26,051007,131320
$TT8_MAMPS,0.026845
$HUMID,2129
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.3,999.0
$24V_AH,24.0,31.764
$10V_AH,10.2,11.126
$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,24.800,55.950,189.525,145.350,0.000,158.296,228.896,318.018,2.500,0.000,0.000,30.930,555.166,1916.734,460.875,514.781,883.389,33.341,774.719,0.000,488.179,0.000,7.066
$DEVICE_MAMPS,150.332,59.059,746.291,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6481,290
$CFSIZE,260034560,247447552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,104847,4746.228,-12249.806,11,3.3,30,18.3