version: 66.02
glider: 22
mission: 2
dive: 303
start: 10 1 107 17 15 29
data:
$ID,22
$MISSION,2
$DIVE,303
$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,-116044.8
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,13
$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
$GPS1,170938,4739.352,-12253.021,39,1.5,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.8
$GPS2,171403,4739.371,-12253.004,14,1.5,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,0.214
$KALMAN_X,44020.0,168.7,-101.6,-44112.4,-47.9
$KALMAN_Y,16742.2,133.5,-189.1,-17289.5,-55.7
$MHEAD_RNG_PITCHd_Wd,302.4,305,-11.1,-7.407
$D_GRID,116
$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,-0.80,-97.8,0.0,0.0,0,88,0.00,0.00,-60.88,0.000,2,0.000,0.000,37,2219,2917
$GC,92,-0.80,-97.8,2.2,-2.4,10,153,13.62,3.03,-41.25,0.000,4,0.198,0.145,2348,776,3883
$GC,313,-0.80,-97.8,16.6,-8.4,44,320,0.00,2.83,0.00,0.000,6,0.000,0.102,2348,2207,3885
$GC,384,-0.80,-97.8,22.2,-7.7,53,389,0.00,2.85,0.00,0.000,4,0.000,0.136,2348,3572,3885
$GC,449,-0.80,-97.8,27.7,-8.7,57,456,0.00,2.80,0.00,0.000,6,0.000,0.110,2348,2200,3884
$GC,646,-0.80,-97.8,43.4,-7.6,73,650,0.00,2.95,0.00,0.000,4,0.000,0.137,2348,774,3885
$GC,696,-0.80,-97.8,47.2,-7.5,76,704,0.00,2.88,0.00,0.000,6,0.000,0.105,2348,2209,3885
$GC,894,-0.80,-97.8,60.2,-6.1,92,898,0.00,2.83,0.00,0.000,4,0.000,0.135,2349,3566,3885
$GC,958,-0.80,-97.8,64.4,-6.3,96,966,0.00,2.78,0.00,0.000,6,0.000,0.111,2348,2193,3885
$GC,1155,-0.80,-97.8,75.6,-5.6,112,1160,0.00,2.95,0.00,0.000,4,0.000,0.139,2348,775,3885
$GC,1214,-0.80,-97.8,79.1,-5.9,116,1219,0.00,2.83,0.00,0.000,6,0.000,0.104,2348,2205,3885
$GC,1410,-0.80,-97.8,90.0,-5.5,131,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2205,3885
$GC,1600,-0.80,-97.8,99.9,-5.5,146,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2206,3885
$STATE,1609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1609,begin apogee
$GC,1615,-0.31,0.0,100.7,5.6,147,1696,0.57,0.00,77.18,0.738,6,0.127,0.000,2459,2085,3484
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1700,0.80,97.8,102.6,0.0,154,1784,1.17,0.00,76.10,0.721,6,0.100,0.000,2700,2080,3086
$GC,1974,0.88,169.0,91.2,5.8,176,2036,0.10,2.88,54.53,0.719,4,0.068,0.118,2726,686,2794
$GC,2128,0.88,169.0,78.2,9.8,188,2133,0.00,2.70,0.00,0.000,6,0.000,0.078,2727,2113,2794
$GC,2324,0.88,169.0,59.6,9.4,203,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2113,2794
$GC,2515,0.88,169.0,41.3,11.1,218,2520,0.00,2.92,0.00,0.000,4,0.000,0.120,2726,679,2794
$GC,2566,0.88,169.0,34.6,12.6,221,2573,0.00,2.72,0.00,0.000,6,0.000,0.078,2727,2107,2794
$GC,2766,0.88,169.0,11.4,8.8,243,2773,0.00,2.80,0.00,0.000,4,0.000,0.112,2727,3516,2794
$GC,2832,0.88,169.0,5.3,9.3,253,2838,0.00,2.75,0.00,0.000,6,0.000,0.089,2727,2090,2794
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,1.2,1.022033
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2927,151.05,0.645,0,0,1648,450.13
$SM_GC,1.32,0.00,0.00,151.05,0.000,0.000,0.645,38,2211,1648,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2061
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,35.047
$10V_AH,10.2,9.133
$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,27.650,45.975,207.800,151.050,0.000,32.579,36.793,106.787,1.750,0.000,0.000,14.912,512.094,1616.682,478.086,461.457,322.259,33.333,774.967,0.000,464.475,0.000,5.345
$DEVICE_MAMPS,197.886,144.963,737.854,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,174.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,264
$CFSIZE,260034560,249364480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,180753,4739.680,-12253.230,11,3.0,30,18.3