version: 66.02
glider: 22
mission: 2
dive: 70
start: 9 23 107 0 11 34
data:
$ID,22
$MISSION,2
$DIVE,70
$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,100
$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,-109831.62
$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,12
$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
$GPS1,235621,4739.775,-12251.040,9,1.5,9,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.8
$GPS2,001026,4739.770,-12250.915,10,1.3,15,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.119
$KALMAN_X,10592.7,-1.1,-50.1,-7963.6,173.1
$KALMAN_Y,2973.1,-275.2,-91.2,-2462.9,34.4
$MHEAD_RNG_PITCHd_Wd,35.7,2745,-19.5,-8.333
$D_GRID,118
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.33,-97.8,0.0,0.0,0,136,0.00,0.00,-109.38,0.000,2,0.000,0.000,39,2109,2982
$GC,138,-1.33,-97.8,2.4,-4.3,18,194,12.95,2.95,-34.78,0.000,4,0.199,0.137,2231,686,3883
$GC,337,-1.33,-97.8,22.4,-11.2,47,345,0.00,2.67,0.00,0.000,6,0.000,0.073,2231,2108,3886
$GC,533,-1.33,-97.8,45.4,-12.1,63,538,0.00,2.67,0.00,0.000,4,0.000,0.088,2232,3527,3889
$GC,612,-1.33,-97.8,55.6,-13.1,69,616,0.00,2.70,0.00,0.000,6,0.000,0.079,2231,2098,3890
$GC,814,-1.33,-97.8,80.6,-12.2,85,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2098,3890
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,994,-0.31,0.0,101.2,11.6,99,1076,1.17,0.00,74.30,0.717,6,0.132,0.000,2458,1984,3484
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1079,1.33,97.8,103.1,0.0,106,1161,1.75,0.00,77.12,0.710,6,0.098,0.000,2814,1983,3085
$GC,1349,1.33,97.8,80.6,10.3,128,1353,0.00,2.78,0.00,0.000,4,0.000,0.109,2813,584,3088
$GC,1387,1.33,97.8,76.4,10.7,130,1394,0.00,2.62,0.00,0.000,6,0.000,0.058,2814,2020,3088
$GC,1583,1.33,97.8,57.6,9.0,146,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2020,3089
$GC,1773,1.33,97.8,39.8,9.5,161,1778,0.00,2.88,0.00,0.000,4,0.000,0.110,2813,581,3089
$GC,1857,1.33,97.8,31.1,9.9,167,1862,0.00,2.58,0.00,0.000,6,0.000,0.058,2813,2015,3089
$GC,2057,1.33,97.8,12.8,8.6,188,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2015,3088
$GC,2128,1.37,136.6,7.9,6.1,199,2166,0.00,2.95,30.08,0.676,4,0.000,0.114,2813,582,2927
$GC,2416,1.52,279.2,2.9,0.2,243,2480,0.22,2.58,56.83,0.666,2,0.058,0.061,2868,2002,2617
$STATE,2481,end climb,SURFACE_DEPTH_REACHED
$STATE,2481,begin surface coast
$FINISH,0.6,1.012050
$STATE,2565,end surface coast,CONTROL_FINISHED_OK
$STATE,2566,begin surface
$SM_CCo,2587,132.93,0.629,0,0,1444,500.17
$SM_GC,1.38,0.00,0.00,132.93,0.000,0.000,0.629,38,2106,1444,-11.46,0.17,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2095
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,9.9,7.1
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,14.958
$10V_AH,10.2,3.933
$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,29.050,27.750,238.325,132.925,0.000,130.355,282.094,171.112,2.000,0.000,0.000,15.491,452.668,1527.217,505.768,426.044,687.500,33.351,782.086,0.000,432.240,0.000,6.958
$DEVICE_MAMPS,198.653,136.526,717.145,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6437,266
$CFSIZE,260034560,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,005739,4739.909,-12250.452,12,1.7,12,18.3