version: 66.02
glider: 23
mission: 2
dive: 330
start: 10 2 107 23 34 25
data:
$ID,23
$MISSION,2
$DIVE,330
$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,-28317.965
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,232735,4739.563,-12252.234,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.0
$GPS2,233303,4739.607,-12252.185,12,1.2,12,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.186,-0.165
$KALMAN_X,21239.4,376.9,282.9,-20947.0,116.0
$KALMAN_Y,13414.7,235.8,253.1,-14227.8,84.9
$MHEAD_RNG_PITCHd_Wd,210.0,375,-15.3,-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,22,begin dive
$GC,24,-1.09,-117.3,0.0,0.0,0,99,0.00,0.00,-72.60,0.000,2,0.000,0.000,365,2092,3521
$GC,103,-1.09,-117.3,2.3,-5.3,12,134,11.18,2.92,-13.55,0.000,4,0.148,0.057,2368,696,3963
$GC,233,-1.09,-117.3,12.8,-7.0,32,240,0.00,2.85,0.00,0.000,6,0.000,0.031,2368,2110,3964
$GC,307,-1.09,-117.3,18.8,-8.4,43,313,0.00,2.42,0.00,0.000,4,0.000,0.050,2368,3508,3965
$GC,497,-1.09,-117.3,32.2,-6.2,59,504,0.00,2.38,0.00,0.000,6,0.000,0.034,2368,2117,3965
$GC,693,-1.09,-117.3,42.5,-5.3,75,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2117,3965
$GC,885,-1.09,-117.3,53.6,-6.3,90,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2117,3965
$GC,1075,-1.09,-117.3,65.3,-6.0,105,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2117,3965
$GC,1263,-1.09,-117.3,75.2,-6.2,120,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2117,3965
$GC,1451,-1.09,-117.3,87.1,-6.3,135,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2117,3965
$STATE,1615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1615,begin apogee
$GC,1622,-0.31,0.0,95.6,6.1,148,1716,0.82,0.00,90.85,0.749,6,0.087,0.000,2537,1873,3484
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1719,1.09,117.3,97.0,0.0,156,1817,1.42,2.65,88.43,0.732,4,0.067,0.044,2840,3302,3004
$GC,1865,1.09,120.1,86.6,8.9,167,1873,0.00,2.58,1.90,0.801,6,0.000,0.041,2840,1899,2994
$GC,2061,1.09,120.1,67.3,9.9,183,2066,0.00,2.92,0.00,0.000,4,0.000,0.061,2840,469,2993
$GC,2093,1.09,120.1,63.9,10.8,185,2098,0.00,2.78,0.00,0.000,6,0.000,0.029,2840,1907,2993
$GC,2289,1.09,120.1,45.6,9.2,200,2293,0.00,2.50,0.00,0.000,4,0.000,0.045,2841,3297,2993
$GC,2327,1.09,120.1,42.0,9.2,202,2334,0.00,2.58,0.00,0.000,6,0.000,0.040,2840,1885,2993
$GC,2524,1.09,120.1,24.2,9.5,218,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1885,2993
$GC,2720,1.09,120.1,5.1,9.6,244,2726,0.00,2.88,0.00,0.000,4,0.000,0.061,2840,473,2993
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,0.7,1.021912
$STATE,2784,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2811,110.07,0.652,0,0,2056,350.04
$SM_GC,0.89,0.00,0.00,110.07,0.000,0.000,0.652,364,2111,2056,-10.32,0.28,350.04
$IRIDIUM_FIX,4726.11,-12250.84,031007,020212
$TT8_MAMPS,0.026845
$HUMID,2126
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.6,30.5
$24V_AH,24.0,26.622
$10V_AH,10.2,9.661
$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,24.625,33.175,181.175,110.075,0.000,37.956,45.141,157.086,2.000,0.000,0.000,13.490,493.362,1599.147,386.663,441.338,373.730,33.333,654.141,0.000,432.326,0.000,10.056
$DEVICE_MAMPS,148.031,61.360,800.748,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6463,254
$CFSIZE,260034560,248934400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,002403,4739.480,-12252.423,13,1.4,13,18.3