version: 66.02
glider: 22
mission: 2
dive: 9
start: 9 20 107 22 16 13
data:
$ID,22
$MISSION,2
$DIVE,9
$D_SURF,2
$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,30
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-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,500
$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,-108287.51
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$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,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$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,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,220123,4739.837,-12251.029,11,2.4,30,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.3
$GPS2,221507,4739.889,-12251.005,14,1.2,24,18.3
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.229,0.137
$KALMAN_X,-76.3,-62.9,-28.0,2635.3,53.8
$KALMAN_Y,594.2,207.5,69.7,-508.0,-35.5
$MHEAD_RNG_PITCHd_Wd,40.8,2744,-20.1,-11.111
$D_GRID,118
$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,-1.42,-146.6,0.0,0.0,0,93,0.00,0.00,-67.55,0.000,2,0.000,0.000,37,2083,2891
$GC,96,-1.42,-146.6,2.3,-4.1,11,163,12.77,2.72,-44.00,0.000,4,0.198,0.087,2215,3516,3998
$GC,188,-1.42,-146.6,9.8,-16.9,26,195,0.00,2.62,0.00,0.000,6,0.000,0.068,2215,2091,3999
$GC,260,-1.42,-146.6,19.7,-13.4,37,267,0.00,2.65,0.00,0.000,4,0.000,0.077,2215,3510,3999
$GC,338,-1.42,-146.6,30.8,-14.7,44,343,0.00,2.65,0.00,0.000,6,0.000,0.071,2215,2094,4001
$GC,540,-1.42,-146.6,59.1,-14.1,60,545,0.00,2.67,0.00,0.000,4,0.000,0.082,2215,3511,4002
$GC,566,-1.42,-146.6,63.0,-15.1,62,571,0.00,2.65,0.00,0.000,6,0.000,0.074,2215,2087,4002
$STATE,830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,830,begin apogee
$GC,834,-0.31,0.0,100.4,13.7,83,936,1.25,0.00,97.78,0.737,6,0.129,0.000,2458,2080,3483
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,938,1.42,146.6,103.3,0.0,91,1059,1.80,0.00,111.90,0.722,6,0.094,0.000,2832,2079,2886
$GC,1374,1.42,146.6,52.0,14.2,126,1378,0.00,2.70,0.00,0.000,4,0.000,0.100,2831,684,2885
$GC,1498,1.42,146.6,33.9,14.1,135,1505,0.00,2.58,0.00,0.000,6,0.000,0.057,2831,2110,2885
$GC,1700,1.42,151.8,7.7,10.9,158,1707,0.00,0.00,4.03,0.737,6,0.000,0.000,2831,2111,2864
$GC,1772,1.63,344.3,3.8,1.4,169,1853,0.25,0.00,77.32,0.677,2,0.064,0.000,2890,2110,2437
$STATE,1854,end climb,SURFACE_DEPTH_REACHED
$STATE,1854,begin surface coast
$FINISH,0.5,1.019047
$STATE,1886,end surface coast,CONTROL_FINISHED_OK
$STATE,1886,begin surface
$SM_CCo,1907,109.82,0.649,0,0,1445,500.17
$SM_GC,1.29,0.00,0.00,109.82,0.000,0.000,0.649,40,2079,1445,-11.46,-0.59,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2080
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,7.7
$ALTIM_BOTTOM_PING,50.3,6.7
$24V_AH,23.9,9.289
$10V_AH,10.2,2.637
$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,29.150,21.300,291.025,109.825,0.000,130.388,339.766,91.829,0.750,0.000,0.000,24.816,325.592,1083.542,484.078,336.461,644.562,33.325,719.647,0.000,328.845,0.000,6.955
$DEVICE_MAMPS,197.886,103.545,737.087,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,120.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,187
$CFSIZE,260034560,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200907,225033,4740.016,-12250.637,11,1.0,11,18.3