version: 66.02
glider: 23
mission: 2
dive: 305
start: 10 2 107 0 21 19
data:
$ID,23
$MISSION,2
$DIVE,305
$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,-2
$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,-28389.412
$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,2035
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,41
$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
$GPS1,001221,4739.460,-12252.507,8,1.9,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.4
$GPS2,001957,4739.480,-12252.464,10,2.0,10,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.259,0.002
$KALMAN_X,17024.8,119.6,113.0,-16653.9,-77.0
$KALMAN_Y,9642.7,23.4,-39.9,-10184.5,-20.7
$MHEAD_RNG_PITCHd_Wd,252.1,921,-14.5,-9.048
$D_GRID,124
$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,-1.03,-117.3,0.0,0.0,0,93,0.00,0.00,-66.85,0.000,2,0.000,0.000,368,2141,3411
$GC,97,-1.03,-117.3,2.1,-4.9,11,134,11.23,3.12,-18.62,0.000,4,0.147,0.058,2382,617,3963
$GC,180,-1.03,-117.3,7.8,-9.1,24,187,0.00,2.78,0.00,0.000,6,0.000,0.031,2382,2008,3963
$GC,253,-1.03,-117.3,14.1,-8.7,35,259,0.00,2.55,0.00,0.000,4,0.000,0.048,2382,3456,3964
$GC,339,-1.03,-117.3,21.3,-8.3,47,345,0.00,2.45,0.00,0.000,6,0.000,0.035,2382,2028,3965
$GC,536,-1.03,-117.3,35.0,-6.6,63,540,0.00,2.53,0.00,0.000,4,0.000,0.049,2382,3462,3965
$GC,582,-1.03,-117.3,38.4,-7.3,66,586,0.00,2.47,0.00,0.000,6,0.000,0.035,2382,2020,3965
$GC,777,-1.03,-117.3,52.3,-7.2,81,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2021,3964
$GC,968,-1.03,-117.3,65.4,-6.7,96,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2021,3965
$GC,1157,-1.03,-117.3,78.2,-6.8,111,1162,0.00,2.90,0.00,0.000,4,0.000,0.054,2382,619,3965
$GC,1217,-1.03,-117.3,82.8,-7.7,115,1221,0.00,2.85,0.00,0.000,6,0.000,0.031,2382,2052,3965
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1403,-0.31,0.0,95.5,6.7,129,1497,0.77,0.00,90.55,0.743,6,0.086,0.000,2538,1877,3483
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1501,1.03,117.3,97.3,0.0,137,1597,1.38,0.00,88.62,0.721,6,0.067,0.000,2830,1877,3005
$GC,1787,1.07,148.9,77.1,8.0,160,1812,0.00,0.00,23.25,0.726,6,0.000,0.000,2830,1877,2878
$GC,2000,1.07,152.5,59.0,8.9,177,2012,0.00,2.90,2.72,0.783,4,0.000,0.058,2830,481,2861
$GC,2065,1.07,152.5,52.7,10.2,182,2069,0.00,2.70,0.00,0.000,6,0.000,0.029,2830,1890,2861
$GC,2260,1.08,155.9,34.9,8.9,197,2272,0.00,2.62,2.38,0.781,4,0.000,0.044,2830,3297,2847
$GC,2290,1.08,155.9,32.0,9.6,199,2298,0.00,2.58,0.00,0.000,6,0.000,0.040,2830,1901,2847
$GC,2489,1.09,173.2,14.8,8.5,219,2509,0.00,2.92,12.70,0.704,4,0.000,0.059,2830,471,2776
$GC,2535,1.12,194.0,11.1,8.4,226,2561,0.10,2.72,15.50,0.697,6,0.061,0.030,2854,1892,2692
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,0.2,1.002434
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2707,74.93,0.658,1,0,2058,350.04
$SM_GC,0.88,0.00,0.00,74.93,0.000,0.000,0.658,364,2053,2058,-10.34,0.51,350.04
$IRIDIUM_FIX,4719.74,-12251.79,021007,040400
$TT8_MAMPS,0.026078
$HUMID,2145
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.4,27.7
$24V_AH,24.0,24.704
$10V_AH,10.2,9.000
$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,24.725,38.800,235.725,74.925,0.000,80.042,70.161,155.171,2.000,0.000,0.000,11.532,477.391,1535.583,415.163,424.058,436.734,33.333,685.945,0.000,415.204,0.000,10.384
$DEVICE_MAMPS,147.264,59.059,783.107,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,166.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,249
$CFSIZE,260034560,249618432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,010902,4739.449,-12252.995,14,2.0,32,18.3