version: 66.02
glider: 22
mission: 2
dive: 87
start: 9 23 107 13 17 41
data:
$ID,22
$MISSION,2
$DIVE,87
$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,40
$T_MISSION,70
$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,100
$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,-110252.48
$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,10
$R_STBD_OVSHOOT,18
$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
$GPS1,131223,4740.064,-12250.251,14,2.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.2
$GPS2,131635,4740.079,-12250.181,12,7.1,31,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.031
$KALMAN_X,14377.6,320.1,90.4,-11293.2,410.2
$KALMAN_Y,3561.0,255.4,-59.4,-3040.8,58.6
$MHEAD_RNG_PITCHd_Wd,242.9,3936,-19.5,-8.333
$D_GRID,92
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.33,-97.8,0.0,0.0,0,82,0.00,0.00,-56.03,0.000,2,0.000,0.000,39,2110,2680
$GC,85,-1.33,-97.8,2.1,-2.9,9,158,13.10,2.97,-52.55,0.000,4,0.202,0.140,2234,685,3884
$GC,191,-1.33,-97.8,8.4,-11.8,26,198,0.00,2.65,0.00,0.000,6,0.000,0.074,2234,2103,3885
$GC,263,-1.33,-97.8,17.4,-11.9,37,270,0.00,2.70,0.00,0.000,4,0.000,0.092,2234,3516,3886
$GC,334,-1.33,-97.8,25.4,-11.4,44,342,0.00,2.78,0.00,0.000,6,0.000,0.087,2234,2098,3887
$GC,530,-1.33,-97.8,48.4,-12.0,60,535,0.00,2.90,0.00,0.000,4,0.000,0.130,2233,681,3888
$GC,588,-1.33,-97.8,55.6,-12.1,64,596,0.00,2.70,0.00,0.000,6,0.000,0.077,2234,2103,3888
$GC,785,-1.33,-97.8,79.7,-11.7,80,790,0.00,2.72,0.00,0.000,4,0.000,0.095,2234,3510,3888
$GC,863,-1.33,-97.8,89.7,-12.0,86,868,0.00,2.75,0.00,0.000,6,0.000,0.093,2234,2093,3888
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,892,-0.31,0.0,92.9,12.6,88,975,1.17,0.00,77.12,0.718,6,0.137,0.000,2456,1985,3484
$STATE,975,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,977,1.33,97.8,95.5,0.0,95,1059,1.77,0.00,76.25,0.709,6,0.098,0.000,2818,1984,3085
$GC,1247,1.33,97.8,74.2,9.6,117,1252,0.00,2.78,0.00,0.000,4,0.000,0.107,2817,585,3084
$GC,1292,1.33,97.8,69.0,11.3,120,1297,0.00,2.58,0.00,0.000,6,0.000,0.058,2818,2011,3084
$GC,1494,1.33,97.8,49.1,9.5,136,1499,0.00,2.58,0.00,0.000,4,0.000,0.070,2818,3412,3084
$GC,1547,1.33,97.8,43.7,10.4,140,1551,0.00,2.62,0.00,0.000,6,0.000,0.064,2818,1990,3084
$GC,1749,1.33,97.8,24.1,9.1,156,1753,0.00,2.78,0.00,0.000,4,0.000,0.110,2817,585,3084
$GC,1855,1.33,97.8,13.2,10.1,169,1861,0.00,2.58,0.00,0.000,6,0.000,0.058,2818,2018,3083
$GC,1927,1.38,145.7,8.5,5.6,180,1970,0.00,0.00,35.90,0.679,6,0.000,0.000,2818,2018,2888
$GC,2035,1.43,195.1,2.0,5.5,197,2043,0.10,0.00,5.45,0.718,2,0.076,0.000,2845,2018,2861
$STATE,2044,end climb,SURFACE_DEPTH_REACHED
$STATE,2044,begin surface coast
$FINISH,0.7,1.011769
$STATE,2082,end surface coast,CONTROL_FINISHED_OK
$STATE,2082,begin surface
$SM_CCo,2102,180.32,0.638,0,0,1445,500.17
$SM_GC,1.45,0.00,0.00,180.32,0.000,0.000,0.638,38,2105,1445,-11.46,0.14,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2075
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,10.0,7.8
$ALTIM_BOTTOM_PING,70.7,7.8
$24V_AH,23.8,16.363
$10V_AH,10.2,4.263
$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,29.000,38.425,194.725,180.325,0.000,32.580,39.532,88.523,2.000,0.000,0.000,32.284,385.150,1058.246,501.347,369.337,253.133,33.351,741.705,0.000,354.258,0.000,11.252
$DEVICE_MAMPS,202.488,139.594,717.912,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,204
$CFSIZE,260034560,254877696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,135647,4740.081,-12250.141,10,6.6,29,18.3