version: 66.02
glider: 23
mission: 2
dive: 416
start: 10 6 107 17 6 8
data:
$ID,23
$MISSION,2
$DIVE,416
$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,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,450
$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,-28255.6
$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,18
$R_STBD_OVSHOOT,42
$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
$GPS1,170046,4746.330,-12249.837,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.6
$GPS2,170451,4746.364,-12249.812,11,2.0,11,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,-0.101
$KALMAN_X,22168.6,7.0,-11.1,-18256.3,42.6
$KALMAN_Y,13750.0,7.9,-36.7,-1533.5,117.9
$MHEAD_RNG_PITCHd_Wd,221.8,581,-13.6,-7.037
$D_GRID,160
$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,-0.97,-107.5,0.0,0.0,0,118,0.00,0.00,-90.82,0.000,2,0.000,0.000,365,2128,3539
$GC,123,-0.97,-107.5,2.2,-3.7,15,154,11.38,3.05,-11.68,0.000,4,0.150,0.060,2395,677,3924
$GC,207,-0.97,-107.5,9.2,-8.1,28,213,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2096,3924
$GC,280,-0.97,-107.5,14.3,-6.6,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2095,3924
$GC,353,-0.97,-107.5,18.6,-6.0,50,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2095,3924
$GC,429,-0.97,-107.5,23.2,-5.9,58,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2095,3925
$GC,621,-0.97,-107.5,34.5,-5.8,73,625,0.00,2.95,0.00,0.000,4,0.000,0.049,2396,682,3926
$GC,659,-0.97,-107.5,37.1,-6.1,75,666,0.00,2.88,0.00,0.000,6,0.000,0.031,2396,2111,3926
$GC,856,-0.97,-107.5,48.4,-5.5,91,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2110,3926
$GC,1047,-0.97,-107.5,58.9,-5.2,106,1052,0.00,3.00,0.00,0.000,4,0.000,0.050,2396,676,3926
$GC,1086,-0.97,-107.5,61.3,-5.8,108,1092,0.00,2.88,0.00,0.000,6,0.000,0.031,2395,2101,3925
$GC,1282,-0.97,-107.5,72.9,-5.8,124,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3926
$GC,1471,-0.97,-107.5,83.5,-5.7,139,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2099,3926
$GC,1664,-0.97,-107.5,93.9,-5.5,154,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2100,3926
$STATE,1682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1682,begin apogee
$GC,1690,-0.31,0.0,95.2,5.5,156,1781,0.70,0.00,83.32,0.746,6,0.086,0.000,2537,1867,3484
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1782,begin climb
$GC,1784,0.97,107.5,97.0,0.0,164,1870,1.35,0.00,81.53,0.728,6,0.066,0.000,2821,1867,3045
$GC,2054,0.97,107.5,77.5,8.6,186,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1867,3045
$GC,2245,0.97,107.5,61.7,8.2,201,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1867,3045
$GC,2435,0.97,107.5,46.8,7.6,216,2439,0.00,2.62,0.00,0.000,4,0.000,0.044,2821,3312,3045
$GC,2468,0.97,107.5,43.9,8.2,218,2472,0.00,2.55,0.00,0.000,6,0.000,0.038,2821,1900,3042
$GC,2663,0.97,107.5,28.7,7.9,233,2668,0.00,2.88,0.00,0.000,4,0.000,0.059,2821,474,3043
$GC,2696,0.97,107.5,25.9,8.9,235,2701,0.00,2.72,0.00,0.000,6,0.000,0.029,2821,1893,3043
$GC,2897,0.98,118.8,11.4,6.6,259,2909,0.00,0.00,8.10,0.719,6,0.000,0.000,2821,1895,2999
$GC,2976,1.00,140.6,6.1,6.3,271,2996,0.00,1.40,15.75,0.699,3,0.000,0.050,2821,1291,2910
$STATE,2996,end climb,SURFACE_DEPTH_REACHED
$STATE,2997,begin surface coast
$FINISH,0.4,1.011861
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3118,145.55,0.639,0,0,1649,450.13
$SM_GC,0.81,0.00,0.00,145.55,0.000,0.000,0.639,365,2102,1649,-10.32,0.08,450.13
$IRIDIUM_FIX,4729.30,-12247.19,061007,191947
$TT8_MAMPS,0.025311
$HUMID,2125
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.6,999.0
$24V_AH,24.0,34.268
$10V_AH,10.2,11.891
$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,24.525,32.050,188.700,145.550,0.000,40.916,30.472,80.110,1.750,0.000,0.000,13.125,546.361,1775.466,454.283,465.029,306.295,33.352,740.063,0.000,459.079,0.000,9.065
$DEVICE_MAMPS,149.565,59.826,746.291,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6441,289
$CFSIZE,260034560,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,180144,4746.265,-12250.122,9,1.7,26,18.3