version: 66.02
glider: 22
mission: 2
dive: 131
start: 9 25 107 1 16 21
data:
$ID,22
$MISSION,2
$DIVE,131
$D_SURF,5
$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,45
$T_MISSION,90
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,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,-111487.93
$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,12
$R_STBD_OVSHOOT,20
$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,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,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
$GPS1,011109,4740.127,-12250.746,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.4
$GPS2,011457,4740.149,-12250.707,16,1.8,16,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.259,-0.122
$KALMAN_X,23218.2,236.6,-147.8,-20468.6,255.8
$KALMAN_Y,7394.7,78.9,46.0,-6672.7,147.8
$MHEAD_RNG_PITCHd_Wd,226.6,3360,-10.5,-7.407
$D_GRID,119
$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,-0.74,-78.2,0.0,0.0,0,63,0.00,0.00,-37.42,0.000,2,0.000,0.000,37,2077,2490
$GC,66,-0.74,-78.2,2.0,-1.4,6,146,13.75,2.95,-60.15,0.000,4,0.199,0.139,2362,678,3803
$GC,219,-0.74,-78.2,8.0,-5.3,30,226,0.00,2.70,0.00,0.000,6,0.000,0.080,2362,2104,3805
$GC,291,-0.74,-78.2,11.2,-4.8,41,298,0.00,2.78,0.00,0.000,4,0.000,0.106,2362,3519,3806
$GC,391,-0.74,-78.2,16.2,-4.9,56,397,0.00,2.75,0.00,0.000,6,0.000,0.091,2362,2099,3806
$GC,462,-0.74,-78.2,19.6,-4.9,67,469,0.00,2.92,0.00,0.000,4,0.000,0.132,2362,677,3806
$GC,493,-0.74,-78.2,21.2,-4.7,70,501,0.00,2.75,0.00,0.000,6,0.000,0.084,2362,2108,3806
$GC,690,-0.74,-78.2,31.0,-5.1,86,694,0.00,2.78,0.00,0.000,4,0.000,0.107,2363,3521,3807
$GC,769,-0.74,-78.2,35.4,-5.4,92,773,0.00,2.78,0.00,0.000,6,0.000,0.094,2362,2096,3807
$GC,964,-0.74,-78.2,45.6,-4.5,107,968,0.00,2.95,0.00,0.000,4,0.000,0.136,2362,673,3807
$GC,1002,-0.74,-78.2,47.3,-4.5,109,1009,0.00,2.72,0.00,0.000,6,0.000,0.083,2362,2098,3807
$GC,1198,-0.74,-78.2,55.9,-5.0,125,1203,0.00,2.80,0.00,0.000,4,0.000,0.110,2363,3520,3807
$GC,1297,-0.74,-78.2,61.3,-5.6,132,1302,0.00,2.80,0.00,0.000,6,0.000,0.097,2362,2090,3807
$GC,1492,-0.74,-78.2,71.7,-5.4,147,1497,0.00,2.83,0.00,0.000,4,0.000,0.106,2362,3516,3807
$GC,1530,-0.74,-78.2,74.0,-6.1,149,1538,0.00,2.80,0.00,0.000,6,0.000,0.095,2362,2098,3807
$GC,1727,-0.74,-78.2,82.9,-5.2,165,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2098,3807
$GC,1917,-0.74,-78.2,92.1,-5.1,180,1922,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,676,3808
$GC,1954,-0.74,-78.2,94.2,-5.2,182,1962,0.00,2.75,0.00,0.000,6,0.000,0.084,2362,2108,3807
$STATE,2073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2073,begin apogee
$GC,2078,-0.31,0.0,100.3,5.4,192,2148,0.50,0.00,62.10,0.745,6,0.115,0.000,2460,1991,3484
$STATE,2149,end apogee,CONTROL_FINISHED_OK
$STATE,2149,begin climb
$GC,2151,0.74,78.2,102.0,0.0,198,2223,1.12,2.97,61.05,0.729,4,0.106,0.122,2688,584,3164
$GC,2294,0.81,140.9,96.6,6.1,209,2351,0.00,2.67,48.25,0.722,6,0.000,0.067,2688,2007,2908
$GC,2540,0.84,165.3,80.3,6.9,229,2565,0.12,2.72,18.38,0.726,4,0.071,0.086,2720,3419,2809
$GC,2591,0.84,165.3,75.6,9.4,233,2595,0.00,2.75,0.00,0.000,6,0.000,0.081,2720,1994,2808
$GC,2793,0.84,165.3,56.2,9.5,249,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1993,2809
$GC,2983,0.84,165.3,38.5,8.8,264,2987,0.00,2.88,0.00,0.000,4,0.000,0.124,2719,577,2808
$GC,3033,0.84,165.3,33.3,9.9,267,3041,0.00,2.65,0.00,0.000,6,0.000,0.066,2720,2003,2807
$GC,3232,0.84,165.3,15.2,8.7,287,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2002,2808
$GC,3304,0.84,165.3,9.2,8.1,298,3311,0.00,2.67,0.00,0.000,4,0.000,0.087,2719,3416,2808
$STATE,3354,end climb,SURFACE_DEPTH_REACHED
$STATE,3354,begin surface coast
$FINISH,4.4,1.022439
$STATE,3362,end surface coast,CONTROL_FINISHED_OK
$STATE,3362,begin surface
$SM_CCo,3384,162.48,0.651,0,0,1648,450.13
$SM_GC,1.66,0.00,0.00,162.48,0.000,0.000,0.651,40,2083,1648,-11.45,-0.45,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2089
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.2,7.9
$24V_AH,23.9,20.015
$10V_AH,10.2,5.183
$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,27.875,67.200,189.775,162.475,0.000,32.578,33.525,84.362,1.750,0.000,0.000,16.775,597.686,1921.288,497.122,541.863,267.250,33.339,842.961,0.000,542.062,0.000,5.350
$DEVICE_MAMPS,199.420,142.662,744.757,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9602,307
$CFSIZE,260034560,253775872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,021635,4740.030,-12250.844,14,4.8,33,18.3