version: 66.02
glider: 22
mission: 2
dive: 178
start: 9 27 107 5 39 37
data:
$ID,22
$MISSION,2
$DIVE,178
$D_SURF,5
$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,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,80
$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,550
$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,-112661.85
$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,2160
$C_ROLL_CLIMB,2075
$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,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,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
$GPS1,052958,4739.376,-12252.209,11,2.1,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.6
$GPS2,053814,4739.408,-12252.218,14,1.9,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.272,0.047
$KALMAN_X,27355.2,-54.4,-16.4,-26324.2,68.9
$KALMAN_Y,5789.7,-37.1,109.1,-6387.5,56.6
$MHEAD_RNG_PITCHd_Wd,261.5,254,-11.1,-7.407
$D_GRID,125
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,94,0.00,0.00,-67.80,0.000,2,0.000,0.000,36,2167,2750
$GC,97,-0.78,-78.2,2.3,-2.5,11,165,13.60,3.00,-45.78,0.000,4,0.196,0.146,2355,744,3804
$GC,284,-0.78,-78.2,12.0,-5.7,40,290,0.00,2.75,0.00,0.000,6,0.000,0.091,2355,2167,3805
$GC,356,-0.78,-78.2,15.1,-3.7,51,362,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3570,3806
$GC,421,-0.78,-78.2,18.1,-4.9,61,428,0.00,2.85,0.00,0.000,6,0.000,0.108,2355,2157,3806
$GC,500,-0.78,-78.2,22.0,-4.9,70,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2157,3806
$GC,688,-0.78,-78.2,31.2,-5.0,85,693,0.00,2.95,0.00,0.000,4,0.000,0.136,2355,731,3807
$GC,767,-0.78,-78.2,35.4,-5.3,90,773,0.00,2.78,0.00,0.000,6,0.000,0.094,2355,2160,3807
$GC,962,-0.78,-78.2,46.0,-5.9,106,967,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3563,3807
$GC,1000,-0.78,-78.2,48.4,-6.2,108,1008,0.00,2.88,0.00,0.000,6,0.000,0.110,2355,2152,3807
$GC,1197,-0.78,-78.2,59.1,-5.4,124,1201,0.00,2.92,0.00,0.000,4,0.000,0.137,2355,737,3807
$GC,1235,-0.78,-78.2,61.2,-5.6,126,1242,0.00,2.80,0.00,0.000,6,0.000,0.095,2355,2163,3807
$GC,1431,-0.78,-78.2,71.2,-4.7,142,1436,0.00,2.83,0.00,0.000,4,0.000,0.120,2356,3566,3807
$GC,1490,-0.78,-78.2,74.6,-6.2,146,1495,0.00,2.85,0.00,0.000,6,0.000,0.113,2355,2152,3807
$GC,1685,-0.78,-78.2,85.1,-5.2,161,1690,0.00,2.92,0.00,0.000,4,0.000,0.136,2355,732,3807
$GC,1737,-0.78,-78.2,87.8,-5.0,164,1744,0.00,2.80,0.00,0.000,6,0.000,0.095,2355,2164,3807
$GC,1933,-0.78,-78.2,97.0,-4.2,180,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2164,3807
$STATE,2008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2008,begin apogee
$GC,2014,-0.31,0.0,100.3,4.6,186,2082,0.55,0.00,62.33,0.740,6,0.129,0.000,2460,2060,3483
$STATE,2083,end apogee,CONTROL_FINISHED_OK
$STATE,2083,begin climb
$GC,2084,0.78,78.2,101.2,0.0,192,2153,1.17,0.00,60.78,0.724,6,0.097,0.000,2699,2056,3165
$GC,2342,0.85,141.8,87.1,6.0,213,2396,0.00,2.92,48.33,0.717,4,0.000,0.123,2699,653,2904
$GC,2507,0.85,141.8,74.8,8.1,225,2515,0.00,2.72,0.00,0.000,6,0.000,0.077,2699,2079,2904
$GC,2703,0.88,167.5,61.1,6.8,241,2728,0.10,0.00,19.40,0.723,6,0.072,0.000,2724,2080,2800
$GC,2917,0.88,167.5,42.5,9.3,258,2921,0.00,2.95,0.00,0.000,4,0.000,0.124,2724,649,2800
$GC,2949,0.88,167.5,39.4,10.0,260,2954,0.00,2.70,0.00,0.000,6,0.000,0.077,2725,2087,2800
$GC,3151,0.88,167.5,21.3,9.0,276,3156,0.00,2.92,0.00,0.000,4,0.000,0.123,2724,659,2800
$GC,3183,0.88,167.5,18.2,9.2,279,3190,0.00,2.67,0.00,0.000,6,0.000,0.077,2725,2087,2800
$GC,3256,0.88,167.5,11.8,9.2,290,3262,0.00,2.80,0.00,0.000,4,0.000,0.113,2725,3493,2800
$GC,3327,0.88,167.5,6.4,7.7,301,3334,0.00,2.75,0.00,0.000,6,0.000,0.091,2724,2075,2799
$STATE,3358,end climb,SURFACE_DEPTH_REACHED
$STATE,3358,begin surface coast
$FINISH,2.2,1.020341
$STATE,3485,end surface coast,CONTROL_FINISHED_OK
$STATE,3485,begin surface
$SM_CCo,3506,197.75,0.644,0,0,1240,550.21
$SM_GC,1.41,0.00,0.00,197.75,0.000,0.000,0.644,39,2178,1240,-11.46,0.51,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2092
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.1,8.0
$24V_AH,23.9,24.043
$10V_AH,10.2,6.360
$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,27.800,62.850,190.825,197.750,0.000,65.180,72.255,193.933,2.250,0.000,0.000,31.617,621.187,2043.000,549.804,564.719,468.737,33.339,893.022,0.000,552.953,0.000,5.354
$DEVICE_MAMPS,195.585,145.730,740.155,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,214.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9577,325
$CFSIZE,260034560,252428288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270907,064226,4739.492,-12252.637,14,1.7,31,18.3