version: 66.02
glider: 22
mission: 2
dive: 170
start: 9 26 107 20 28 34
data:
$ID,22
$MISSION,2
$DIVE,170
$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,550
$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,-112472.45
$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,7
$R_STBD_OVSHOOT,14
$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
$GPS1,202010,4739.409,-12252.389,11,6.8,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.2
$GPS2,202711,4739.399,-12252.401,11,6.5,30,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.267,0.104
$KALMAN_X,27343.0,56.8,209.1,-26877.0,-150.1
$KALMAN_Y,6009.2,4.2,144.7,-6695.1,-176.7
$MHEAD_RNG_PITCHd_Wd,273.0,1007,-10.5,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.74,-78.2,0.0,0.0,0,93,0.00,0.00,-67.90,0.000,2,0.000,0.000,38,2168,2744
$GC,96,-0.74,-78.2,2.1,-1.7,11,170,13.88,2.85,-53.03,0.000,4,0.203,0.130,2363,3566,3802
$GC,217,-0.74,-78.2,6.6,-7.6,30,223,0.00,2.85,0.00,0.000,6,0.000,0.107,2362,2146,3803
$GC,289,-0.74,-78.2,10.6,-4.7,41,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2146,3804
$GC,360,-0.74,-78.2,14.1,-5.2,52,367,0.00,2.95,0.00,0.000,4,0.000,0.135,2362,722,3804
$GC,399,-0.74,-78.2,16.2,-5.7,58,406,0.00,2.78,0.00,0.000,6,0.000,0.091,2363,2156,3804
$GC,471,-0.74,-78.2,20.2,-4.7,69,476,0.00,2.85,0.00,0.000,4,0.000,0.120,2363,3570,3805
$GC,536,-0.74,-78.2,23.7,-5.0,73,543,0.00,2.88,0.00,0.000,6,0.000,0.106,2362,2150,3806
$GC,732,-0.74,-78.2,33.8,-5.4,89,737,0.00,2.95,0.00,0.000,4,0.000,0.136,2362,729,3806
$GC,831,-0.74,-78.2,39.3,-6.0,96,836,0.00,2.78,0.00,0.000,6,0.000,0.092,2362,2163,3806
$GC,1026,-0.74,-78.2,48.4,-4.5,111,1031,0.00,2.83,0.00,0.000,4,0.000,0.119,2363,3563,3806
$GC,1074,-0.74,-78.2,50.7,-5.5,114,1079,0.00,2.85,0.00,0.000,6,0.000,0.108,2362,2145,3806
$GC,1269,-0.74,-78.2,59.8,-4.6,129,1273,0.00,2.95,0.00,0.000,4,0.000,0.137,2362,720,3806
$GC,1320,-0.74,-78.2,62.4,-4.8,132,1327,0.00,2.80,0.00,0.000,6,0.000,0.094,2363,2152,3806
$GC,1516,-0.74,-78.2,71.6,-4.6,148,1521,0.00,2.83,0.00,0.000,4,0.000,0.117,2363,3567,3806
$GC,1568,-0.74,-78.2,74.3,-5.1,151,1575,0.00,2.90,0.00,0.000,6,0.000,0.110,2363,2145,3806
$GC,1764,-0.74,-78.2,83.7,-4.8,167,1769,0.00,2.92,0.00,0.000,4,0.000,0.137,2362,729,3807
$GC,1797,-0.74,-78.2,85.3,-5.2,169,1801,0.00,2.75,0.00,0.000,6,0.000,0.093,2363,2156,3807
$GC,1992,-0.74,-78.2,94.6,-4.9,184,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2156,3806
$STATE,2103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2104,begin apogee
$GC,2109,-0.31,0.0,100.2,4.9,193,2178,0.50,0.00,61.78,0.747,6,0.120,0.000,2460,2044,3484
$STATE,2179,end apogee,CONTROL_FINISHED_OK
$STATE,2179,begin climb
$GC,2180,0.74,78.2,101.8,0.0,199,2253,1.12,2.90,60.97,0.726,4,0.105,0.104,2687,621,3164
$GC,2297,0.84,168.7,97.5,5.5,208,2373,0.08,2.72,69.18,0.715,6,0.055,0.070,2716,2064,2795
$GC,2561,0.84,168.7,74.8,9.0,229,2566,0.00,2.75,0.00,0.000,4,0.000,0.103,2716,3461,2795
$GC,2585,0.84,168.7,72.3,9.8,230,2593,0.00,2.80,0.00,0.000,6,0.000,0.089,2716,2045,2795
$GC,2781,0.84,168.7,53.9,9.4,246,2786,0.00,2.90,0.00,0.000,4,0.000,0.127,2716,628,2794
$GC,2860,0.84,168.7,46.2,10.3,251,2867,0.00,2.70,0.00,0.000,6,0.000,0.074,2716,2071,2794
$GC,3056,0.84,168.7,28.3,9.0,267,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2072,2794
$GC,3249,0.84,168.7,12.3,7.6,289,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2072,2794
$GC,3321,0.86,186.1,7.1,7.0,300,3340,0.00,2.78,13.18,0.703,4,0.000,0.107,2716,3462,2722
$GC,3346,0.90,223.0,5.5,6.6,304,3360,0.00,2.83,8.68,0.709,2,0.000,0.096,2716,2041,2676
$STATE,3361,end climb,SURFACE_DEPTH_REACHED
$STATE,3361,begin surface coast
$FINISH,1.0,1.019826
$STATE,3458,end surface coast,CONTROL_FINISHED_OK
$STATE,3458,begin surface
$SM_CCo,3479,184.30,0.644,0,0,1240,550.21
$SM_GC,1.45,0.00,0.00,184.30,0.000,0.000,0.644,38,2167,1240,-11.46,0.48,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2084
$TCM_TEMP,19.80
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,50.4,7.8
$24V_AH,23.8,23.329
$10V_AH,10.2,6.153
$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,27.900,68.575,213.775,184.300,0.000,65.208,60.192,132.100,10.250,0.000,0.000,32.561,614.072,1991.815,552.169,582.071,391.983,33.343,919.008,0.000,567.312,0.000,5.350
$DEVICE_MAMPS,203.255,137.293,747.058,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,211.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9604,321
$CFSIZE,260034560,252653568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,213026,4739.409,-12253.004,10,2.0,15,18.3