version: 66.02
glider: 23
mission: 2
dive: 197
start: 9 28 107 1 46 43
data:
$ID,23
$MISSION,2
$DIVE,197
$D_SURF,2
$D_FLARE,2
$D_TGT,50
$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,15
$T_MISSION,35
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-28469.518
$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,1900
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$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
$GPS1,014137,4739.481,-12253.042,36,1.1,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.9
$GPS2,014538,4739.482,-12253.047,9,1.1,15,18.3
$SPEED_LIMITS,0.192,0.201
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.200,-0.021
$KALMAN_X,11232.9,-62.6,-156.7,-11136.3,-26.0
$KALMAN_Y,6472.1,-156.8,-180.6,-6691.8,13.6
$MHEAD_RNG_PITCHd_Wd,77.6,806,-25.7,-11.111
$D_GRID,116
$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,-1.71,-97.8,0.0,0.0,0,84,0.00,0.00,-61.83,0.000,2,0.000,0.000,365,1866,3361
$GC,87,-1.71,-97.8,2.1,-4.5,10,123,10.52,2.70,-16.00,0.000,4,0.150,0.058,2234,3315,3884
$GC,222,-1.71,-97.8,15.2,-6.9,31,229,0.00,2.53,0.00,0.000,6,0.000,0.034,2234,1900,3886
$GC,300,-1.71,-97.8,21.3,-8.1,42,305,0.00,2.83,0.00,0.000,4,0.000,0.051,2234,493,3886
$GC,312,-1.71,-97.8,22.3,-7.9,42,319,0.00,2.75,0.00,0.000,6,0.000,0.028,2234,1903,3886
$GC,508,-1.71,-97.8,37.5,-8.8,58,512,0.00,2.55,0.00,0.000,4,0.000,0.045,2235,3316,3887
$STATE,647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,655,-0.31,0.0,50.4,9.3,68,734,1.55,0.00,75.78,0.675,6,0.114,0.000,2535,1515,3483
$STATE,736,end apogee,CONTROL_FINISHED_OK
$STATE,736,begin climb
$GC,738,1.71,97.8,52.5,0.0,75,823,2.08,2.62,72.97,0.667,4,0.070,0.061,2979,205,3084
$GC,841,1.71,97.8,40.6,17.6,83,849,0.00,2.33,0.00,0.000,6,0.000,0.025,2979,1503,3084
$GC,1041,1.71,97.8,6.9,15.6,104,1047,0.00,2.72,0.00,0.000,4,0.000,0.039,2979,2905,3083
$STATE,1084,end climb,SURFACE_DEPTH_REACHED
$STATE,1084,begin surface coast
$FINISH,0.7,1.020482
$STATE,1107,end surface coast,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$SM_CCo,1129,133.18,0.624,1,0,2056,350.04
$SM_GC,1.00,0.00,0.00,133.18,0.000,0.000,0.624,369,1881,2056,-10.31,-0.54,350.04
$IRIDIUM_FIX,4719.74,-12251.79,280907,050550
$TT8_MAMPS,0.026845
$HUMID,2146
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,35.3,999.0
$24V_AH,24.0,16.915
$10V_AH,10.2,6.634
$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,26.250,26.375,148.750,133.175,0.000,32.797,42.639,87.946,0.750,0.000,0.000,17.060,232.979,470.637,379.036,219.767,238.747,33.331,537.414,0.000,215.756,0.000,5.140
$DEVICE_MAMPS,150.332,61.360,674.960,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,74.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3300,114
$CFSIZE,260034560,252411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280907,020844,4739.507,-12252.947,10,1.2,10,18.3