version: 66.02
glider: 22
mission: 2
dive: 155
start: 9 26 107 3 51 39
data:
$ID,22
$MISSION,2
$DIVE,155
$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,-112058.88
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$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,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
$GPS1,034157,4739.474,-12252.232,10,1.7,10,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.6
$GPS2,035015,4739.448,-12252.198,12,1.5,12,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.261,-0.092
$KALMAN_X,26467.1,-6.3,-7.8,-25477.8,292.6
$KALMAN_Y,6974.0,-78.2,-107.7,-7239.8,224.9
$MHEAD_RNG_PITCHd_Wd,232.3,256,-11.1,-7.407
$D_GRID,124
$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,-0.78,-78.2,0.0,0.0,0,76,0.00,0.00,-50.10,0.000,2,0.000,0.000,37,2082,2751
$GC,79,-0.78,-78.2,2.2,-2.1,8,152,13.70,3.03,-51.28,0.000,4,0.199,0.127,2356,3564,3803
$GC,206,-0.78,-78.2,7.3,-7.2,28,212,0.00,2.85,0.00,0.000,6,0.000,0.105,2356,2143,3805
$GC,278,-0.78,-78.2,12.4,-5.7,39,284,0.00,2.88,0.00,0.000,4,0.000,0.114,2356,3561,3805
$GC,350,-0.78,-78.2,16.0,-5.3,50,356,0.00,2.85,0.00,0.000,6,0.000,0.104,2356,2136,3806
$GC,422,-0.78,-78.2,19.6,-5.1,61,428,0.00,2.95,0.00,0.000,4,0.000,0.138,2356,723,3806
$GC,474,-0.78,-78.2,22.2,-4.6,66,478,0.00,2.78,0.00,0.000,6,0.000,0.093,2356,2161,3806
$GC,669,-0.78,-78.2,32.0,-4.8,81,674,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3566,3807
$GC,747,-0.78,-78.2,36.3,-5.7,86,755,0.00,2.88,0.00,0.000,6,0.000,0.107,2356,2146,3807
$GC,943,-0.78,-78.2,46.1,-4.8,102,948,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,731,3807
$GC,1017,-0.78,-78.2,49.8,-5.2,107,1024,0.00,2.72,0.00,0.000,6,0.000,0.093,2356,2151,3807
$GC,1219,-0.78,-78.2,60.8,-5.3,123,1223,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3560,3807
$GC,1291,-0.78,-78.2,65.1,-5.8,128,1295,0.00,2.83,0.00,0.000,6,0.000,0.107,2356,2147,3807
$GC,1486,-0.78,-78.2,75.1,-5.1,143,1491,0.00,2.95,0.00,0.000,4,0.000,0.138,2356,726,3807
$GC,1558,-0.78,-78.2,78.9,-5.4,148,1563,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2163,3807
$GC,1754,-0.78,-78.2,88.7,-4.9,163,1758,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3571,3807
$GC,1818,-0.78,-78.2,92.3,-5.8,167,1826,0.00,2.88,0.00,0.000,6,0.000,0.107,2356,2148,3807
$STATE,1989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1989,begin apogee
$GC,1993,-0.31,0.0,100.2,4.7,181,2062,0.52,0.00,62.42,0.748,6,0.122,0.000,2458,2038,3484
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,0.78,78.2,101.5,0.0,187,2139,1.15,2.90,61.12,0.732,4,0.104,0.094,2692,3463,3165
$GC,2152,0.94,227.9,98.9,4.0,194,2276,0.20,2.72,115.40,0.713,6,0.060,0.077,2742,2040,2555
$GC,2464,0.94,227.9,66.4,11.9,219,2469,0.00,2.88,0.00,0.000,4,0.000,0.127,2742,633,2555
$GC,2549,0.94,227.9,55.6,12.6,225,2554,0.00,2.67,0.00,0.000,6,0.000,0.073,2742,2053,2555
$GC,2751,0.94,227.9,31.7,11.4,241,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2053,2555
$GC,2944,0.94,227.9,10.9,10.7,262,2950,0.00,2.90,0.00,0.000,4,0.000,0.122,2742,636,2555
$GC,2969,0.94,227.9,8.3,10.5,266,2976,0.00,2.65,0.00,0.000,6,0.000,0.075,2742,2058,2554
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,1.2,1.019990
$STATE,3080,end surface coast,CONTROL_FINISHED_OK
$STATE,3081,begin surface
$SM_CCo,3101,128.98,0.652,0,0,1649,450.13
$SM_GC,1.55,0.00,0.00,128.98,0.000,0.000,0.652,39,2161,1649,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2117
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.2,7.7
$24V_AH,23.8,21.981
$10V_AH,10.2,5.771
$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,28.025,62.900,238.950,128.975,0.000,65.158,69.405,218.857,1.750,0.000,0.000,12.401,551.710,1746.992,486.700,511.754,478.790,33.342,827.443,0.000,516.543,0.000,5.371
$DEVICE_MAMPS,198.653,139.594,747.825,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6431,283
$CFSIZE,260034560,253095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,044638,4739.400,-12252.481,36,1.6,36,18.3