version: 66.02
glider: 22
mission: 2
dive: 392
start: 10 5 107 9 53 40
data:
$ID,22
$MISSION,2
$DIVE,392
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$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,90
$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,-118318.95
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,8
$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,0
$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
$GPS1,094633,4740.608,-12250.299,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.4
$GPS2,095217,4740.599,-12250.273,10,2.2,29,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.143,0.186
$KALMAN_X,55897.7,-113.3,-98.8,-52306.1,123.5
$KALMAN_Y,16852.0,-509.0,-76.0,-14582.5,-107.0
$MHEAD_RNG_PITCHd_Wd,304.1,334,-10.8,-6.296
$D_GRID,90
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-88.0,0.0,0.0,0,146,0.00,0.00,-114.15,0.000,2,0.000,0.000,38,2210,3042
$GC,149,-0.77,-88.0,2.1,-1.7,19,210,13.62,3.10,-36.50,0.000,4,0.197,0.150,2355,775,3844
$GC,236,-0.77,-88.0,5.4,-7.4,33,242,0.00,2.88,0.00,0.000,6,0.000,0.110,2355,2203,3845
$GC,309,-0.77,-88.0,11.0,-7.9,44,315,0.00,2.92,0.00,0.000,4,0.000,0.148,2356,3566,3847
$GC,381,-0.77,-88.0,16.3,-7.2,55,387,0.00,2.80,0.00,0.000,6,0.000,0.110,2356,2184,3847
$GC,460,-0.77,-88.0,20.6,-5.3,66,465,0.00,2.92,0.00,0.000,4,0.000,0.139,2355,782,3848
$GC,512,-0.77,-88.0,23.6,-5.3,69,519,0.00,2.88,0.00,0.000,6,0.000,0.112,2356,2211,3848
$GC,709,-0.77,-88.0,34.9,-5.9,85,713,0.00,2.90,0.00,0.000,4,0.000,0.146,2356,3572,3848
$GC,760,-0.77,-88.0,38.3,-6.7,88,767,0.00,2.80,0.00,0.000,6,0.000,0.112,2356,2190,3848
$GC,960,-0.77,-88.0,50.1,-5.7,104,964,0.00,2.95,0.00,0.000,4,0.000,0.141,2355,781,3848
$GC,1006,-0.77,-88.0,53.0,-6.1,107,1011,0.00,2.88,0.00,0.000,6,0.000,0.112,2355,2212,3848
$GC,1202,-0.77,-88.0,64.0,-5.3,122,1206,0.00,2.88,0.00,0.000,4,0.000,0.144,2356,3572,3848
$GC,1248,-0.77,-88.0,66.9,-6.5,125,1253,0.00,2.80,0.00,0.000,6,0.000,0.113,2356,2189,3848
$GC,1444,-0.77,-88.0,78.0,-6.2,140,1449,0.00,2.95,0.00,0.000,4,0.000,0.143,2355,781,3848
$GC,1491,-0.77,-88.0,80.7,-6.0,143,1495,0.00,2.88,0.00,0.000,6,0.000,0.115,2356,2207,3848
$STATE,1582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1583,begin apogee
$GC,1589,-0.31,0.0,85.7,5.2,150,1658,0.55,0.00,65.70,0.725,6,0.131,0.000,2459,2039,3485
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1662,0.77,88.0,87.3,0.0,156,1736,1.15,0.00,69.97,0.716,6,0.102,0.000,2694,2034,3125
$GC,1925,0.79,102.3,75.6,5.9,177,1938,0.00,0.00,10.88,0.732,6,0.000,0.000,2694,2033,3067
$GC,2126,0.81,119.8,63.6,5.9,193,2141,0.00,0.00,13.35,0.724,6,0.000,0.000,2694,2033,2995
$GC,2327,0.81,119.8,50.4,7.1,209,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2033,2996
$GC,2518,0.81,127.0,37.9,6.1,224,2528,0.00,0.00,5.18,0.738,6,0.000,0.000,2694,2034,2966
$GC,2717,0.81,127.9,24.8,6.3,240,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2033,2967
$GC,2912,0.84,154.7,14.3,5.6,263,2943,0.00,2.97,20.88,0.696,4,0.000,0.123,2693,625,2853
$GC,2969,0.85,164.4,10.8,6.1,272,2983,0.00,2.75,7.45,0.715,6,0.000,0.082,2694,2067,2813
$GC,3051,0.89,199.9,6.4,5.4,284,3077,0.15,0.00,22.85,0.683,2,0.081,0.000,2729,2068,2688
$STATE,3077,end climb,SURFACE_DEPTH_REACHED
$STATE,3078,begin surface coast
$FINISH,0.6,1.004951
$STATE,3169,end surface coast,CONTROL_FINISHED_OK
$STATE,3169,begin surface
$SM_CCo,3192,130.50,0.645,0,0,1648,450.13
$SM_GC,1.29,0.00,0.00,130.50,0.000,0.000,0.645,39,2218,1648,-11.46,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2067
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.8,43.044
$10V_AH,10.2,11.331
$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,27.800,46.900,216.250,130.500,0.000,32.606,36.245,160.274,2.000,0.000,0.000,30.399,555.566,1738.288,502.465,504.401,410.268,33.342,825.168,0.000,494.805,0.000,5.349
$DEVICE_MAMPS,197.119,149.565,737.854,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9592,302
$CFSIZE,260034560,247005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,105025,4740.760,-12250.256,30,1.7,46,18.3