version: 66.02
glider: 22
mission: 2
dive: 291
start: 10 1 107 2 22 57
data:
$ID,22
$MISSION,2
$DIVE,291
$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,100
$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,-115707.91
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,7
$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
$GPS1,021637,4739.534,-12252.995,11,1.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.9
$GPS2,022133,4739.557,-12252.990,13,1.5,13,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,-0.151
$KALMAN_X,41013.2,336.7,74.7,-41436.0,24.2
$KALMAN_Y,13715.8,316.9,127.9,-14413.5,21.4
$MHEAD_RNG_PITCHd_Wd,218.5,313,-11.1,-7.407
$D_GRID,118
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.80,-97.8,0.0,0.0,0,150,0.00,0.00,-122.18,0.000,2,0.000,0.000,34,2158,3150
$GC,154,-0.80,-97.8,2.2,-3.4,20,209,13.65,3.00,-31.65,0.000,4,0.198,0.140,2347,731,3883
$GC,230,-0.80,-97.8,5.0,-6.3,32,236,0.00,2.80,0.00,0.000,6,0.000,0.096,2347,2165,3883
$GC,302,-0.80,-97.8,10.0,-7.7,43,308,0.00,2.90,0.00,0.000,4,0.000,0.133,2347,3562,3884
$GC,407,-0.80,-97.8,18.6,-8.4,59,413,0.00,2.85,0.00,0.000,6,0.000,0.110,2347,2148,3885
$GC,477,-0.80,-97.8,23.4,-6.9,66,482,0.00,2.97,0.00,0.000,4,0.000,0.140,2347,724,3886
$GC,509,-0.80,-97.8,25.8,-7.6,68,514,0.00,2.83,0.00,0.000,6,0.000,0.100,2347,2158,3886
$GC,705,-0.80,-97.8,39.3,-6.8,83,710,0.00,2.90,0.00,0.000,4,0.000,0.133,2347,3569,3887
$GC,792,-0.80,-97.8,45.5,-7.1,89,797,0.00,2.88,0.00,0.000,6,0.000,0.112,2347,2148,3887
$GC,987,-0.80,-97.8,58.4,-6.2,104,992,0.00,2.95,0.00,0.000,4,0.000,0.140,2347,732,3887
$GC,1034,-0.80,-97.8,61.2,-6.6,107,1038,0.00,2.80,0.00,0.000,6,0.000,0.101,2347,2154,3887
$GC,1229,-0.80,-97.8,72.3,-5.9,122,1233,0.00,2.90,0.00,0.000,4,0.000,0.131,2347,3563,3888
$GC,1321,-0.80,-97.8,78.3,-6.3,128,1327,0.00,2.88,0.00,0.000,6,0.000,0.115,2347,2148,3887
$GC,1517,-0.80,-97.8,89.6,-5.8,144,1521,0.00,2.95,0.00,0.000,4,0.000,0.138,2347,729,3887
$GC,1562,-0.80,-97.8,92.6,-6.0,147,1567,0.00,2.83,0.00,0.000,6,0.000,0.102,2347,2163,3887
$STATE,1692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1692,begin apogee
$GC,1698,-0.31,0.0,100.7,6.3,157,1779,0.57,0.00,74.45,0.738,6,0.136,0.000,2456,2092,3483
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1783,0.80,97.8,103.2,0.0,164,1869,1.17,2.92,75.97,0.725,4,0.102,0.120,2697,680,3086
$GC,1922,0.92,203.1,99.1,5.0,175,2011,0.15,2.72,82.40,0.711,6,0.065,0.082,2731,2111,2655
$GC,2208,0.92,203.1,71.5,10.7,198,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2111,2655
$GC,2398,0.92,203.1,52.3,10.0,213,2403,0.00,2.92,0.00,0.000,4,0.000,0.120,2730,679,2655
$GC,2436,0.92,203.1,48.0,10.6,215,2444,0.00,2.72,0.00,0.000,6,0.000,0.079,2731,2105,2655
$GC,2633,0.92,203.1,29.2,8.9,231,2637,0.00,2.83,0.00,0.000,4,0.000,0.115,2731,3517,2655
$GC,2697,0.92,203.1,22.5,10.0,235,2704,0.00,2.75,0.00,0.000,6,0.000,0.086,2731,2104,2655
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,0.5,1.016370
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2963,134.45,0.644,0,0,1648,450.13
$SM_GC,1.31,0.00,0.00,134.45,0.000,0.000,0.644,38,2158,1648,-11.46,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2077
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,33.659
$10V_AH,10.2,8.763
$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,27.900,57.575,232.825,134.450,0.000,32.608,36.925,138.056,2.250,0.000,0.000,13.868,513.778,1565.732,517.326,490.696,353.082,33.339,849.193,0.000,493.237,0.000,5.347
$DEVICE_MAMPS,197.886,139.594,737.854,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,177.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,270
$CFSIZE,260034560,249700352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,031521,4739.447,-12253.352,11,1.7,11,18.3