version: 66.02
glider: 22
mission: 2
dive: 468
start: 10 8 107 20 15 17
data:
$ID,22
$MISSION,2
$DIVE,468
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,30
$T_MISSION,80
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-125807.94
$T_RSLEEP,2
$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,12
$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
$GPS1,195046,4739.949,-12252.786,48,2.1,67,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-62.7
$GPS2,201411,4739.917,-12252.966,32,2.1,51,18.3
$SPEED_LIMITS,0.183,0.237
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.168
$KALMAN_X,-1747.9,-272.4,-119.0,2341.9,-135.7
$KALMAN_Y,-7142.5,-535.3,-104.5,8606.3,-39.2
$MHEAD_RNG_PITCHd_Wd,26.4,2333,-21.6,-10.556
$D_GRID,120
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.48,-117.3,0.0,0.0,0,147,0.00,0.00,-113.22,0.000,2,0.000,0.000,35,2207,2968
$GC,151,-1.48,-117.3,2.2,-3.6,19,219,12.70,2.78,-48.53,0.000,4,0.196,0.131,2201,3573,3962
$GC,349,-1.48,-117.3,26.1,-18.5,47,356,0.00,2.67,0.00,0.000,6,0.000,0.092,2201,2196,3965
$GC,546,-1.48,-117.3,57.0,-15.7,63,550,0.00,2.88,0.00,0.000,4,0.000,0.126,2200,776,3966
$GC,592,-1.48,-117.3,64.3,-15.5,66,597,0.00,2.80,0.00,0.000,6,0.000,0.098,2201,2215,3966
$GC,788,-1.48,-117.3,94.1,-15.5,81,792,0.00,2.15,0.00,0.000,3,0.000,0.132,2201,3268,3966
$STATE,792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,792,begin apogee
$GC,802,-0.31,0.0,95.0,15.5,81,897,1.38,0.00,90.90,0.730,6,0.157,0.000,2454,2042,3485
$STATE,898,end apogee,CONTROL_FINISHED_OK
$STATE,898,begin climb
$GC,901,1.48,117.3,99.5,0.0,89,1003,2.00,2.90,92.05,0.716,4,0.120,0.115,2846,636,3005
$GC,1118,1.48,117.3,80.7,12.2,106,1123,0.00,2.65,0.00,0.000,6,0.000,0.070,2846,2070,3007
$GC,1314,1.48,117.3,56.6,12.3,121,1318,0.00,2.70,0.00,0.000,4,0.000,0.097,2846,3470,3008
$GC,1373,1.48,117.3,49.3,12.4,125,1378,0.00,2.67,0.00,0.000,6,0.000,0.077,2846,2047,3008
$GC,1569,1.48,117.3,26.3,11.6,140,1574,0.00,2.83,0.00,0.000,4,0.000,0.119,2846,633,3008
$GC,1621,1.49,123.3,20.6,10.2,143,1634,0.00,2.62,5.38,0.717,6,0.000,0.069,2846,2066,2982
$GC,1703,1.49,123.3,12.0,10.9,155,1709,0.00,2.70,0.00,0.000,4,0.000,0.097,2846,3467,2981
$STATE,1819,end climb,SURFACE_DEPTH_REACHED
$STATE,1819,begin surface coast
$FINISH,0.8,1.021565
$STATE,1846,end surface coast,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$SM_CCo,1874,287.73,0.627,0,0,659,693.22
$SM_GC,1.19,0.00,0.00,287.73,0.000,0.000,0.627,36,2189,659,-11.47,-0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2019
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,7.8
$24V_AH,23.8,50.609
$10V_AH,10.2,13.624
$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,28.900,37.425,188.325,287.725,0.000,165.171,330.709,471.989,0.500,0.000,0.000,52.597,325.335,1104.283,621.951,363.891,1180.413,33.332,855.226,0.000,328.520,0.000,7.996
$DEVICE_MAMPS,196.352,131.924,730.184,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3297,177
$CFSIZE,260034560,245137408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,205329,4739.966,-12252.881,74,2.5,93,18.3