version: 66.02
glider: 22
mission: 2
dive: 90
start: 9 23 107 15 35 14
data:
$ID,22
$MISSION,2
$DIVE,90
$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,-110336.63
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,152959,4740.037,-12250.029,10,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.3
$GPS2,153407,4740.036,-12249.981,15,1.5,31,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.028
$KALMAN_X,15552.8,449.8,310.3,-12566.9,276.4
$KALMAN_Y,3616.0,277.1,3.4,-3258.0,18.2
$MHEAD_RNG_PITCHd_Wd,243.8,4154,-19.5,-8.333
$D_GRID,91
$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,-1.33,-97.8,0.0,0.0,0,81,0.00,0.00,-55.83,0.000,2,0.000,0.000,37,2104,2675
$GC,84,-1.33,-97.8,2.1,-2.1,9,158,13.12,2.97,-52.78,0.000,4,0.202,0.142,2234,683,3886
$GC,164,-1.33,-97.8,5.5,-9.5,22,171,0.00,2.67,0.00,0.000,6,0.000,0.076,2234,2107,3886
$GC,236,-1.33,-97.8,13.7,-11.6,33,243,0.00,2.70,0.00,0.000,4,0.000,0.094,2234,3517,3887
$GC,328,-1.33,-97.8,24.5,-11.7,45,332,0.00,2.72,0.00,0.000,6,0.000,0.088,2234,2108,3887
$GC,530,-1.33,-97.8,48.4,-11.6,61,534,0.00,2.95,0.00,0.000,4,0.000,0.130,2234,674,3889
$GC,588,-1.33,-97.8,55.5,-11.9,65,593,0.00,2.70,0.00,0.000,6,0.000,0.078,2234,2110,3889
$GC,790,-1.33,-97.8,78.8,-11.9,81,794,0.00,2.70,0.00,0.000,4,0.000,0.094,2234,3517,3889
$GC,848,-1.33,-97.8,86.0,-12.2,85,856,0.00,2.80,0.00,0.000,6,0.000,0.092,2234,2093,3889
$STATE,891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,891,begin apogee
$GC,896,-0.31,0.0,91.4,12.3,89,979,1.17,0.00,77.43,0.722,6,0.137,0.000,2457,1985,3484
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,981,1.33,97.8,94.1,0.0,96,1066,1.75,0.00,75.80,0.713,6,0.102,0.000,2815,1985,3084
$GC,1255,1.33,97.8,71.6,10.7,118,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1985,3084
$GC,1444,1.33,97.8,52.2,10.0,133,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1985,3084
$GC,1633,1.33,97.8,33.3,10.1,148,1638,0.00,2.78,0.00,0.000,4,0.000,0.107,2814,578,3084
$GC,1784,1.33,97.8,17.0,10.6,161,1791,0.00,2.60,0.00,0.000,6,0.000,0.057,2814,2027,3083
$GC,1856,1.33,104.6,10.9,7.9,172,1871,0.00,2.58,5.03,0.726,4,0.000,0.071,2814,3400,3056
$GC,2121,1.48,241.3,5.4,0.5,212,2233,0.17,2.58,103.68,0.661,6,0.069,0.061,2855,1987,2499
$STATE,2244,end climb,SURFACE_DEPTH_REACHED
$STATE,2244,begin surface coast
$FINISH,0.6,1.001137
$STATE,2278,end surface coast,CONTROL_FINISHED_OK
$STATE,2279,begin surface
$SM_CCo,2300,130.85,0.634,0,0,1445,500.17
$SM_GC,1.41,0.00,0.00,130.85,0.000,0.000,0.634,38,2099,1445,-11.46,-0.03,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2090
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,10.0,8.7
$ALTIM_BOTTOM_PING,50.7,7.1
$24V_AH,23.8,16.617
$10V_AH,10.2,4.324
$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,29.225,33.175,261.925,130.850,0.000,32.606,35.363,90.715,1.500,0.000,0.000,31.461,412.809,1140.084,491.664,416.368,251.149,33.365,764.767,0.000,403.095,0.000,6.968
$DEVICE_MAMPS,202.488,141.895,726.349,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6471,237
$CFSIZE,260034560,254808064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,161647,4739.999,-12250.167,9,3.0,28,18.3