version: 66.02
glider: 22
mission: 2
dive: 45
start: 9 22 107 2 30 42
data:
$ID,22
$MISSION,2
$DIVE,45
$D_SURF,2
$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,40
$T_MISSION,70
$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,150
$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,500
$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,-109178.76
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,16
$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,10
$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
$GPS1,022153,4740.482,-12249.165,12,2.9,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.4
$GPS2,022935,4740.489,-12249.134,15,2.8,34,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.236,-0.057
$KALMAN_X,5462.2,49.3,301.5,-1011.8,182.5
$KALMAN_Y,1871.8,-188.1,-14.2,-196.5,2.5
$MHEAD_RNG_PITCHd_Wd,238.0,5417,-15.7,-8.333
$D_GRID,89
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.14,-146.6,0.0,0.0,0,93,0.00,0.00,-68.05,0.000,2,0.000,0.000,36,2109,2912
$GC,96,-1.14,-146.6,2.2,-3.4,11,163,13.40,2.70,-44.90,0.000,4,0.203,0.094,2275,3516,3995
$GC,412,-1.14,-146.6,32.4,-10.1,51,420,0.00,2.72,0.00,0.000,6,0.000,0.078,2275,2095,3998
$GC,611,-1.14,-146.6,51.1,-9.5,67,616,0.00,2.72,0.00,0.000,4,0.000,0.087,2274,3517,3999
$GC,696,-1.14,-146.6,59.8,-10.2,73,700,0.00,2.72,0.00,0.000,6,0.000,0.082,2274,2088,3999
$GC,898,-1.14,-146.6,78.1,-9.7,89,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2087,3999
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1027,-0.31,0.0,90.0,8.9,99,1133,0.95,0.00,98.18,0.721,6,0.125,0.000,2459,1985,3484
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1136,1.14,146.6,92.4,0.0,108,1259,1.52,2.88,112.97,0.705,4,0.100,0.116,2772,582,2885
$GC,1326,1.14,146.6,77.4,12.1,123,1331,0.00,2.60,0.00,0.000,6,0.000,0.060,2772,2009,2884
$GC,1521,1.14,146.6,52.7,11.6,138,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2009,2884
$GC,1711,1.14,146.6,30.8,12.0,153,1716,0.00,2.88,0.00,0.000,4,0.000,0.117,2772,589,2884
$GC,1761,1.14,146.6,24.6,11.4,156,1769,0.00,2.58,0.00,0.000,6,0.000,0.058,2772,1999,2883
$GC,1965,1.14,146.6,4.9,8.8,184,1972,0.00,2.88,0.00,0.000,4,0.000,0.119,2772,586,2883
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,0.9,1.020774
$STATE,2044,end surface coast,CONTROL_FINISHED_OK
$STATE,2044,begin surface
$SM_CCo,2067,187.12,0.644,0,0,1445,500.17
$SM_GC,1.30,0.00,0.00,187.12,0.000,0.000,0.644,35,2116,1445,-11.48,0.42,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,8.2
$ALTIM_BOTTOM_PING,51.1,7.7
$24V_AH,23.8,12.508
$10V_AH,10.2,3.362
$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,28.525,27.650,211.150,187.125,0.000,65.179,78.958,160.573,0.750,0.000,0.000,35.022,362.049,1112.587,506.562,375.107,393.797,33.345,742.027,0.000,355.699,0.000,7.759
$DEVICE_MAMPS,203.255,118.885,720.980,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6465,196
$CFSIZE,260034560,255905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,030902,4740.494,-12249.342,8,1.7,13,18.3