version: 66.02
glider: 23
mission: 2
dive: 136
start: 9 25 107 7 4 1
data:
$ID,23
$MISSION,2
$DIVE,136
$D_SURF,5
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-28859.377
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,065815,4740.451,-12250.804,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.7
$GPS2,070239,4740.463,-12250.802,13,1.3,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,0.218
$KALMAN_X,7277.6,164.4,315.3,-5076.2,-38.0
$KALMAN_Y,7031.1,8.9,131.7,-5910.0,29.2
$MHEAD_RNG_PITCHd_Wd,301.1,1322,-8.2,-7.407
$D_GRID,92
$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,-0.60,-78.2,0.0,0.0,0,95,0.00,0.00,-72.70,0.000,2,0.000,0.000,369,2157,3615
$GC,98,-0.60,-78.2,2.2,-1.3,12,123,11.77,2.92,-5.40,0.000,4,0.148,0.061,2473,753,3804
$GC,374,-0.60,-78.2,12.6,-2.2,54,381,0.00,2.78,0.00,0.000,6,0.000,0.030,2473,2159,3806
$GC,446,-0.60,-78.2,14.4,-2.3,65,453,0.00,2.88,0.00,0.000,4,0.000,0.048,2473,757,3807
$GC,697,-0.60,-78.2,20.6,-2.2,102,701,0.00,2.75,0.00,0.000,6,0.000,0.031,2473,2152,3807
$GC,892,-0.60,-78.2,24.8,-2.6,117,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2152,3807
$GC,1082,-0.60,-78.2,30.4,-2.8,132,1087,0.00,2.88,0.00,0.000,4,0.000,0.050,2473,746,3807
$GC,1127,-0.60,-78.2,31.7,-3.0,135,1132,0.00,2.78,0.00,0.000,6,0.000,0.031,2473,2158,3808
$GC,1323,-0.60,-78.2,35.7,-2.0,150,1328,0.00,2.88,0.00,0.000,4,0.000,0.050,2473,753,3809
$GC,1387,-0.60,-78.2,37.6,-3.2,154,1395,0.00,2.78,0.00,0.000,6,0.000,0.031,2472,2147,3808
$GC,1584,-0.60,-78.2,43.6,-3.2,170,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2146,3808
$GC,1775,-0.60,-78.2,48.9,-2.6,185,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2146,3808
$GC,1963,-0.60,-78.2,53.9,-2.5,200,1968,0.00,2.85,0.00,0.000,4,0.000,0.050,2473,754,3808
$GC,2009,-0.60,-78.2,55.1,-3.0,203,2013,0.00,2.75,0.00,0.000,6,0.000,0.031,2473,2156,3808
$GC,2204,-0.60,-78.2,60.3,-3.7,218,2209,0.00,2.88,0.00,0.000,4,0.000,0.051,2473,750,3808
$GC,2229,-0.60,-78.2,61.4,-4.3,219,2236,0.00,2.78,0.00,0.000,6,0.000,0.031,2473,2148,3808
$GC,2425,-0.60,-78.2,67.8,-2.6,235,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2148,3808
$GC,2616,-0.60,-78.2,68.5,3.6,250,2620,0.00,2.85,0.00,0.000,4,0.000,0.051,2473,753,3808
$GC,2701,-0.60,-78.2,66.6,1.8,256,2705,0.00,2.42,0.00,0.000,3,0.000,0.029,2473,1991,3808
$STATE,2706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2706,begin apogee
$GC,2711,-0.31,0.0,66.5,-1.5,256,2777,0.30,0.00,60.83,0.727,6,0.091,0.000,2535,1901,3483
$STATE,2778,end apogee,CONTROL_FINISHED_OK
$STATE,2778,begin climb
$GC,2780,0.60,78.2,65.7,0.0,262,2842,0.95,0.00,58.65,0.709,6,0.071,0.000,2736,1901,3165
$GC,3029,0.78,245.7,55.5,4.5,282,3165,0.20,2.92,125.72,0.686,4,0.051,0.061,2785,495,2481
$GC,3222,0.78,245.7,42.1,7.6,297,3230,0.00,2.72,0.00,0.000,6,0.000,0.028,2785,1902,2481
$GC,3419,0.80,264.8,28.6,7.1,313,3443,0.00,2.95,14.25,0.693,4,0.000,0.061,2785,504,2403
$GC,3514,0.80,264.8,21.6,7.4,320,3522,0.00,2.70,0.00,0.000,6,0.000,0.028,2785,1902,2403
$GC,3719,0.82,283.8,8.1,7.1,349,3738,0.00,2.95,13.80,0.686,4,0.000,0.061,2785,506,2327
$STATE,3762,end climb,SURFACE_DEPTH_REACHED
$STATE,3762,begin surface coast
$FINISH,3.6,1.021843
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3807,34.62,0.678,1,0,2057,350.04
$SM_GC,1.33,0.00,0.00,34.62,0.000,0.000,0.678,366,2155,2057,-10.32,0.14,350.04
$IRIDIUM_FIX,4722.92,-12253.53,250907,090910
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,24.0,12.363
$10V_AH,10.2,5.116
$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,24.300,56.825,273.250,34.625,0.000,40.650,30.802,117.044,0.750,0.000,0.000,15.331,667.937,2165.851,404.450,631.239,286.309,33.340,780.598,0.000,617.701,0.000,3.970
$DEVICE_MAMPS,148.031,61.360,727.116,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,242.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,359
$CFSIZE,260034560,254222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,080931,4740.681,-12251.058,37,1.3,42,18.3