version: 66.02
glider: 22
mission: 2
dive: 73
start: 9 23 107 2 36 53
data:
$ID,22
$MISSION,2
$DIVE,73
$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,-109894.72
$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,14
$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
$GPS1,023207,4740.220,-12249.546,19,1.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.3
$GPS2,023545,4740.225,-12249.541,13,1.4,13,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,0.142
$KALMAN_X,10905.9,27.5,214.0,-6852.2,97.7
$KALMAN_Y,2806.6,-336.8,120.5,-1602.3,3.0
$MHEAD_RNG_PITCHd_Wd,27.2,845,-19.5,-8.333
$D_GRID,88
$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,-1.33,-97.8,0.0,0.0,0,87,0.00,0.00,-61.80,0.000,2,0.000,0.000,36,2109,2780
$GC,90,-1.33,-97.8,2.2,-2.8,10,157,13.07,2.67,-47.15,0.000,4,0.201,0.097,2233,3514,3882
$GC,269,-1.33,-97.8,19.7,-13.1,38,276,0.00,2.70,0.00,0.000,6,0.000,0.078,2232,2096,3884
$GC,338,-1.33,-97.8,28.3,-12.2,44,342,0.00,2.72,0.00,0.000,4,0.000,0.087,2232,3514,3885
$GC,390,-1.33,-97.8,34.7,-12.0,48,395,0.00,2.70,0.00,0.000,6,0.000,0.080,2232,2094,3885
$GC,592,-1.33,-97.8,59.0,-12.2,64,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2093,3886
$GC,783,-1.33,-97.8,81.9,-12.2,79,787,0.00,2.75,0.00,0.000,4,0.000,0.090,2232,3522,3886
$GC,814,-1.33,-97.8,86.0,-13.1,81,818,0.00,2.75,0.00,0.000,6,0.000,0.084,2232,2088,3886
$STATE,838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,838,begin apogee
$GC,843,-0.31,0.0,89.0,11.9,83,925,1.17,0.00,77.47,0.716,6,0.135,0.000,2457,1974,3483
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,928,1.33,97.8,91.6,0.0,90,1013,1.75,0.00,76.07,0.709,6,0.103,0.000,2814,1973,3085
$GC,1202,1.33,97.8,69.3,10.0,112,1206,0.00,2.75,0.00,0.000,4,0.000,0.110,2812,590,3085
$GC,1286,1.33,97.8,60.1,11.0,118,1291,0.00,2.58,0.00,0.000,6,0.000,0.058,2813,2020,3085
$GC,1488,1.33,97.8,39.7,10.3,134,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2020,3085
$GC,1678,1.33,97.8,21.2,9.5,149,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2020,3085
$GC,1875,1.36,125.3,5.7,6.8,177,1899,0.00,0.00,21.05,0.683,6,0.000,0.000,2814,2019,2972
$GC,1966,1.51,263.4,5.1,0.5,191,2082,0.17,2.67,104.57,0.659,4,0.064,0.073,2860,3409,2409
$STATE,2093,end climb,SURFACE_DEPTH_REACHED
$STATE,2093,begin surface coast
$FINISH,0.6,1.003328
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2136,begin surface
$SM_CCo,2160,116.28,0.634,0,0,1443,500.17
$SM_GC,1.39,0.00,0.00,116.28,0.000,0.000,0.634,36,2084,1443,-11.47,-0.45,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2117
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.7,7.1
$ALTIM_BOTTOM_PING,51.3,6.8
$24V_AH,23.8,15.208
$10V_AH,10.2,3.991
$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,29.150,27.075,279.175,116.275,0.000,32.597,36.802,77.737,0.750,0.000,0.000,13.846,379.598,1070.036,485.284,356.805,237.502,33.341,736.682,0.000,361.643,0.000,6.951
$DEVICE_MAMPS,200.954,109.681,716.378,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,218
$CFSIZE,260034560,255221760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,031533,4740.356,-12249.165,11,1.4,11,18.3