version: 66.02
glider: 22
mission: 2
dive: 294
start: 10 1 107 5 59 20
data:
$ID,22
$MISSION,2
$DIVE,294
$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,693.21777
$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,-115816.56
$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,9
$R_STBD_OVSHOOT,9
$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
$GPS1,054247,4739.532,-12252.276,11,2.7,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.1
$GPS2,055755,4739.669,-12252.085,37,1.5,41,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,-0.204
$KALMAN_X,42037.1,429.9,-106.1,-41245.6,152.5
$KALMAN_Y,15019.8,462.6,11.4,-15547.7,187.5
$MHEAD_RNG_PITCHd_Wd,206.1,545,-10.6,-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,25,-0.77,-97.8,0.0,0.0,0,138,0.00,0.00,-108.72,0.000,2,0.000,0.000,39,2159,2899
$GC,141,-0.77,-97.8,2.2,-3.0,18,209,13.62,2.97,-48.00,0.000,4,0.198,0.141,2357,3566,3883
$GC,224,-0.77,-97.8,3.9,-5.9,31,231,0.00,2.88,0.00,0.000,6,0.000,0.110,2357,2136,3885
$GC,296,-0.77,-97.8,8.0,-5.8,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2137,3885
$GC,369,-0.77,-97.8,12.3,-6.3,53,375,0.00,2.92,0.00,0.000,4,0.000,0.138,2356,728,3886
$GC,422,-0.77,-97.8,15.6,-5.8,61,428,0.00,2.80,0.00,0.000,6,0.000,0.101,2356,2158,3885
$GC,495,-0.77,-97.8,19.7,-5.9,72,501,0.00,2.90,0.00,0.000,4,0.000,0.131,2356,3569,3885
$GC,592,-0.77,-97.8,25.8,-6.0,80,599,0.00,2.88,0.00,0.000,6,0.000,0.110,2357,2142,3886
$GC,789,-0.77,-97.8,36.6,-5.8,96,794,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,725,3886
$GC,840,-0.77,-97.8,39.9,-6.1,99,847,0.00,2.80,0.00,0.000,6,0.000,0.100,2356,2153,3886
$GC,1040,-0.77,-97.8,50.6,-5.4,115,1044,0.00,2.90,0.00,0.000,4,0.000,0.128,2357,3575,3886
$GC,1125,-0.77,-97.8,55.6,-6.3,121,1130,0.00,2.90,0.00,0.000,6,0.000,0.114,2356,2142,3886
$GC,1320,-0.77,-97.8,68.3,-6.4,136,1325,0.00,2.95,0.00,0.000,4,0.000,0.141,2356,725,3886
$GC,1358,-0.77,-97.8,70.7,-5.6,138,1366,0.00,2.83,0.00,0.000,6,0.000,0.106,2356,2165,3886
$GC,1555,-0.77,-97.8,81.7,-5.8,154,1560,0.00,2.88,0.00,0.000,4,0.000,0.130,2357,3566,3886
$GC,1601,-0.77,-97.8,84.8,-6.9,157,1605,0.00,2.90,0.00,0.000,6,0.000,0.115,2356,2137,3886
$GC,1796,-0.77,-97.8,97.5,-6.8,172,1801,0.00,2.92,0.00,0.000,4,0.000,0.142,2356,724,3886
$STATE,1833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1833,begin apogee
$GC,1842,-0.31,0.0,100.2,7.1,174,1921,0.50,0.00,75.62,0.736,6,0.132,0.000,2454,2106,3484
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1924,0.77,97.8,103.3,0.0,181,2010,1.17,2.97,76.40,0.725,4,0.103,0.120,2694,681,3084
$GC,2050,0.87,188.2,100.3,5.5,191,2127,0.12,2.72,69.97,0.713,6,0.067,0.084,2725,2102,2715
$GC,2324,0.87,188.2,77.3,9.1,213,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2102,2715
$GC,2515,0.87,188.2,59.8,9.6,228,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,2716
$GC,2704,0.87,188.2,41.9,9.5,243,2709,0.00,2.90,0.00,0.000,4,0.000,0.121,2724,681,2716
$GC,2742,0.87,188.2,38.1,10.2,245,2749,0.00,2.72,0.00,0.000,6,0.000,0.079,2724,2125,2716
$GC,2938,0.87,188.2,20.0,9.3,261,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2125,2716
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,0.6,1.001205
$STATE,3182,end surface coast,CONTROL_FINISHED_OK
$STATE,3182,begin surface
$SM_CCo,3204,257.88,0.630,0,0,658,693.22
$SM_GC,1.10,0.00,0.00,257.88,0.000,0.000,0.630,38,2164,658,-11.46,0.40,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2055
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.6,7.9
$24V_AH,23.8,34.009
$10V_AH,10.2,8.854
$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,27.650,57.475,222.000,257.875,0.000,163.000,387.422,0.000,1.750,0.000,0.000,41.319,556.934,1961.672,638.346,551.218,709.040,33.334,983.428,0.000,524.698,0.000,5.354
$DEVICE_MAMPS,197.886,141.895,736.320,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,195.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9597,297
$CFSIZE,260034560,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,065805,4739.583,-12252.193,9,4.0,28,18.3