version: 66.02
glider: 22
mission: 2
dive: 259
start: 9 29 107 13 31 11
data:
$ID,22
$MISSION,2
$DIVE,259
$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,100
$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,450
$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,-114817.13
$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,2095
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,132239,4739.492,-12252.434,11,2.0,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.6
$GPS2,132945,4739.474,-12252.360,15,1.9,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.280,0.058
$KALMAN_X,30812.5,77.5,-138.7,-29974.2,-78.7
$KALMAN_Y,4114.9,212.0,-441.0,-4289.8,-168.2
$MHEAD_RNG_PITCHd_Wd,263.5,1050,-10.5,-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,25,-0.77,-97.8,0.0,0.0,0,82,0.00,0.00,-55.50,0.000,2,0.000,0.000,40,2072,2847
$GC,85,-0.77,-97.8,2.3,-2.7,9,146,13.73,0.00,-40.20,0.000,6,0.201,0.000,2357,2072,3885
$GC,212,-0.77,-97.8,9.6,-6.5,29,218,0.00,2.92,0.00,0.000,4,0.000,0.121,2357,3510,3886
$GC,257,-0.77,-97.8,12.1,-5.2,36,264,0.00,2.85,0.00,0.000,6,0.000,0.110,2356,2098,3886
$GC,330,-0.77,-97.8,16.0,-5.5,47,336,0.00,2.97,0.00,0.000,4,0.000,0.140,2356,675,3886
$GC,395,-0.77,-97.8,19.7,-5.6,57,402,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2106,3886
$GC,471,-0.77,-97.8,23.6,-5.4,64,476,0.00,2.88,0.00,0.000,4,0.000,0.125,2357,3517,3886
$GC,522,-0.77,-97.8,26.6,-6.0,67,530,0.00,2.90,0.00,0.000,6,0.000,0.112,2356,2084,3886
$GC,719,-0.77,-97.8,37.5,-5.5,83,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3886
$GC,910,-0.77,-97.8,47.6,-5.5,98,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3886
$GC,1098,-0.77,-97.8,58.3,-5.7,113,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3887
$GC,1288,-0.77,-97.8,70.2,-6.3,128,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3886
$GC,1480,-0.77,-97.8,81.2,-5.3,143,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3886
$GC,1667,-0.77,-97.8,90.9,-5.0,158,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2084,3886
$STATE,1841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1841,begin apogee
$GC,1847,-0.31,0.0,100.5,5.6,172,1927,0.52,0.00,77.00,0.735,6,0.125,0.000,2458,2160,3483
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1930,0.77,97.8,102.5,0.0,179,2009,1.12,0.00,75.28,0.717,6,0.095,0.000,2691,2160,3085
$GC,2192,0.81,134.5,88.8,6.6,200,2229,0.00,3.03,28.10,0.724,4,0.000,0.123,2691,739,2934
$GC,2321,0.81,134.5,79.0,7.9,210,2326,0.00,2.72,0.00,0.000,6,0.000,0.078,2691,2178,2934
$GC,2517,0.85,175.8,65.5,6.5,225,2554,0.10,0.00,31.23,0.715,6,0.071,0.000,2715,2179,2765
$GC,2742,0.85,175.8,45.9,9.2,243,2747,0.00,2.95,0.00,0.000,4,0.000,0.120,2716,735,2765
$GC,2814,0.85,175.8,38.8,9.5,248,2819,0.00,2.70,0.00,0.000,6,0.000,0.079,2716,2165,2764
$GC,3010,0.85,175.8,21.6,8.8,263,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2165,2765
$GC,3207,0.85,175.8,5.3,8.3,291,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2165,2765
$STATE,3217,end climb,SURFACE_DEPTH_REACHED
$STATE,3217,begin surface coast
$FINISH,1.0,1.020793
$STATE,3292,end surface coast,CONTROL_FINISHED_OK
$STATE,3293,begin surface
$SM_CCo,3314,151.10,0.647,0,0,1648,450.13
$SM_GC,1.27,0.00,0.00,151.10,0.000,0.000,0.647,37,2077,1648,-11.47,-0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2105
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.5,8.0
$24V_AH,23.9,30.580
$10V_AH,10.2,7.887
$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,27.725,29.050,211.600,151.100,0.000,65.160,124.003,91.253,2.000,0.000,0.000,15.470,576.839,1980.584,469.361,492.854,421.337,33.348,774.074,0.000,496.544,0.000,5.346
$DEVICE_MAMPS,200.954,139.594,734.786,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9600,304
$CFSIZE,260034560,250597376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290907,143007,4739.520,-12252.902,33,1.1,36,18.3