version: 66.02
glider: 22
mission: 2
dive: 15
start: 9 21 107 2 21 47
data:
$ID,22
$MISSION,2
$DIVE,15
$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,125
$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,-108408.79
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,17
$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
$GPS1,021221,4740.404,-12249.171,11,1.6,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.2
$GPS2,022041,4740.398,-12249.165,12,2.3,31,18.3
$SPEED_LIMITS,0.192,0.245
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,0.145
$KALMAN_X,-6.8,-12.7,46.6,4737.0,0.2
$KALMAN_Y,475.2,112.6,-78.9,799.3,-39.4
$MHEAD_RNG_PITCHd_Wd,24.0,280,-27.5,-11.111
$D_GRID,87
$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,23,-1.80,-78.6,0.0,0.0,0,93,0.00,0.00,-67.72,0.000,2,0.000,0.000,35,2109,2896
$GC,96,-1.85,-122.2,2.3,-3.8,11,163,12.35,2.88,-45.08,0.000,4,0.201,0.124,2117,696,3983
$GC,261,-1.85,-122.2,26.6,-18.6,35,266,0.00,2.60,0.00,0.000,6,0.000,0.067,2118,2115,3984
$GC,463,-1.85,-122.2,66.8,-20.9,51,468,0.00,2.62,0.00,0.000,4,0.000,0.084,2117,3519,3986
$GC,529,-1.85,-122.2,81.0,-21.7,56,534,0.00,2.65,0.00,0.000,6,0.000,0.071,2118,2107,3986
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,570,-0.31,0.0,89.1,21.6,59,670,1.83,0.00,95.62,0.719,6,0.146,0.000,2459,1984,3484
$STATE,671,end apogee,CONTROL_FINISHED_OK
$STATE,671,begin climb
$GC,673,1.85,122.2,93.7,0.0,67,777,2.25,2.67,94.57,0.710,4,0.094,0.084,2932,589,2983
$GC,808,1.85,122.2,82.1,16.5,78,816,0.00,2.55,0.00,0.000,6,0.000,0.051,2932,2001,2983
$GC,1005,1.85,122.2,47.0,17.3,94,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2001,2983
$GC,1195,1.85,122.2,14.1,16.5,111,1202,0.00,2.70,0.00,0.000,4,0.000,0.088,2932,586,2983
$GC,1380,2.00,260.2,3.0,-1.9,139,1449,0.15,2.53,62.90,0.670,2,0.076,0.051,2965,2018,2641
$STATE,1451,end climb,SURFACE_DEPTH_REACHED
$STATE,1451,begin surface coast
$FINISH,0.5,1.020707
$STATE,1489,end surface coast,CONTROL_FINISHED_OK
$STATE,1489,begin surface
$SM_CCo,1511,133.93,0.637,0,0,1444,500.17
$SM_GC,1.38,0.00,0.00,133.93,0.000,0.000,0.637,38,2096,1444,-11.46,-0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2100
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.0
$ALTIM_BOTTOM_PING,51.4,7.0
$24V_AH,23.8,9.839
$10V_AH,10.2,2.749
$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,30.075,21.525,253.100,133.925,0.000,65.175,61.662,218.576,0.750,0.000,0.000,32.265,276.157,711.920,479.743,283.790,427.117,33.315,680.246,0.000,269.954,0.000,6.954
$DEVICE_MAMPS,200.954,124.254,719.446,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,99.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,156
$CFSIZE,260034560,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,025017,4740.489,-12248.964,12,2.6,31,18.3