version: 66.02
glider: 23
mission: 2
dive: 135
start: 9 25 107 5 52 25
data:
$ID,23
$MISSION,2
$DIVE,135
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$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,-28872.055
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$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
$GPS1,054639,4740.258,-12250.327,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.6
$GPS2,055103,4740.273,-12250.302,15,1.3,15,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.210,0.112
$KALMAN_X,7414.5,106.9,297.9,-4518.3,126.1
$KALMAN_Y,7004.5,-41.8,134.7,-6189.8,81.3
$MHEAD_RNG_PITCHd_Wd,279.7,2011,-11.6,-7.407
$D_GRID,93
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-88.0,0.0,0.0,0,95,0.00,0.00,-72.75,0.000,2,0.000,0.000,364,2154,3603
$GC,98,-0.82,-88.0,2.1,-1.2,12,123,11.50,2.92,-7.68,0.000,4,0.147,0.060,2425,731,3843
$GC,374,-0.82,-88.0,16.0,-4.5,54,381,0.00,2.80,0.00,0.000,6,0.000,0.030,2425,2159,3845
$GC,446,-0.82,-88.0,18.9,-3.7,65,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2159,3845
$GC,517,-0.82,-88.0,21.7,-4.0,73,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2158,3845
$GC,706,-0.82,-88.0,27.9,-2.6,88,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2158,3847
$GC,896,-0.82,-88.0,33.9,-3.3,103,901,0.00,2.90,0.00,0.000,4,0.000,0.050,2425,737,3847
$GC,969,-0.82,-88.0,36.7,-3.9,108,973,0.00,2.78,0.00,0.000,6,0.000,0.031,2425,2150,3847
$GC,1164,-0.82,-88.0,43.5,-3.5,123,1168,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,731,3847
$GC,1202,-0.82,-88.0,45.0,-3.8,125,1209,0.00,2.83,0.00,0.000,6,0.000,0.031,2425,2152,3847
$GC,1398,-0.82,-88.0,52.0,-3.5,141,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2150,3847
$GC,1588,-0.82,-88.0,59.3,-4.0,156,1593,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,735,3847
$GC,1666,-0.82,-88.0,62.5,-4.3,161,1673,0.00,2.80,0.00,0.000,6,0.000,0.031,2425,2150,3847
$GC,1862,-0.82,-88.0,69.9,-3.7,177,1867,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,728,3847
$GC,1901,-0.82,-88.0,71.5,-4.3,180,1906,0.00,2.80,0.00,0.000,6,0.000,0.031,2425,2156,3847
$GC,2096,-0.82,-88.0,78.8,-3.7,195,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2154,3847
$GC,2288,-0.82,-88.0,86.8,-4.3,210,2293,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,733,3847
$GC,2347,-0.82,-88.0,89.5,-4.6,214,2351,0.00,2.78,0.00,0.000,6,0.000,0.031,2425,2151,3848
$STATE,2452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2452,begin apogee
$GC,2457,-0.31,0.0,93.4,3.8,222,2528,0.57,0.00,68.38,0.745,6,0.091,0.000,2540,2030,3484
$STATE,2529,end apogee,CONTROL_FINISHED_OK
$STATE,2529,begin climb
$GC,2531,0.82,88.0,94.6,0.0,228,2604,1.15,0.00,66.45,0.726,6,0.070,0.000,2783,2030,3124
$GC,2793,0.91,167.7,81.4,5.2,249,2859,0.12,2.92,59.97,0.716,4,0.054,0.058,2815,662,2799
$GC,2964,0.91,167.7,67.5,9.7,262,2969,0.00,2.78,0.00,0.000,6,0.000,0.030,2815,2061,2799
$GC,3159,0.91,167.7,50.4,8.6,277,3164,0.00,2.92,0.00,0.000,4,0.000,0.058,2815,664,2798
$GC,3258,0.91,167.7,41.2,9.6,284,3262,0.00,2.75,0.00,0.000,6,0.000,0.030,2815,2055,2798
$GC,3460,0.91,167.7,23.8,8.2,300,3464,0.00,2.92,0.00,0.000,4,0.000,0.058,2815,656,2798
$GC,3552,0.91,167.7,15.6,9.2,310,3559,0.00,2.75,0.00,0.000,6,0.000,0.031,2815,2049,2798
$GC,3624,0.91,167.7,9.8,7.7,321,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2049,2798
$GC,3695,0.95,209.8,4.8,6.3,332,3733,0.00,2.95,31.50,0.678,4,0.000,0.054,2816,651,2627
$STATE,3757,end climb,SURFACE_DEPTH_REACHED
$STATE,3757,begin surface coast
$FINISH,0.4,1.011623
$STATE,3811,end surface coast,CONTROL_FINISHED_OK
$STATE,3811,begin surface
$SM_CCo,3834,66.50,0.656,0,0,2057,350.04
$SM_GC,1.20,0.00,0.00,66.50,0.000,0.000,0.656,369,2158,2057,-10.31,0.23,350.04
$IRIDIUM_FIX,4722.92,-12249.11,250907,080805
$TT8_MAMPS,0.026845
$HUMID,2171
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.1,36.5
$24V_AH,24.0,12.292
$10V_AH,10.2,5.090
$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,24.475,57.400,226.300,66.500,0.000,40.577,33.681,113.489,1.000,0.000,0.000,16.683,666.141,2241.766,393.205,624.581,283.548,33.341,763.021,0.000,610.503,0.000,5.555
$DEVICE_MAMPS,147.264,59.826,744.757,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,236.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9585,350
$CFSIZE,260034560,254251008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,065815,4740.451,-12250.804,8,1.3,8,18.3