version: 66.02
glider: 22
mission: 2
dive: 318
start: 10 2 107 9 53 7
data:
$ID,22
$MISSION,2
$DIVE,318
$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,-116486.89
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$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,0
$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
$GPS1,094607,4739.547,-12252.954,33,1.4,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-58.3
$GPS2,095144,4739.599,-12252.889,16,1.1,33,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.227,-0.174
$KALMAN_X,46727.5,307.8,196.8,-47116.6,234.8
$KALMAN_Y,19414.3,339.0,170.9,-20098.7,233.1
$MHEAD_RNG_PITCHd_Wd,214.2,462,-10.5,-7.407
$D_GRID,120
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.77,-97.8,0.0,0.0,0,145,0.00,0.00,-115.35,0.000,2,0.000,0.000,37,2178,3059
$GC,149,-0.77,-97.8,2.3,-3.0,19,204,13.62,3.03,-32.38,0.000,4,0.196,0.156,2359,787,3883
$GC,219,-0.77,-97.8,5.4,-5.6,30,225,0.00,2.85,0.00,0.000,6,0.000,0.107,2359,2213,3883
$GC,291,-0.77,-97.8,9.6,-4.0,41,298,0.00,2.83,0.00,0.000,4,0.000,0.134,2359,3567,3883
$GC,377,-0.77,-97.8,15.6,-8.5,54,383,0.00,2.80,0.00,0.000,6,0.000,0.113,2359,2188,3885
$GC,449,-0.77,-97.8,19.7,-6.1,65,456,0.00,2.95,0.00,0.000,4,0.000,0.139,2358,776,3887
$GC,507,-0.77,-97.8,23.7,-6.2,70,514,0.00,2.83,0.00,0.000,6,0.000,0.105,2359,2202,3886
$GC,704,-0.77,-97.8,35.6,-6.0,86,709,0.00,2.83,0.00,0.000,4,0.000,0.134,2359,3562,3887
$GC,742,-0.77,-97.8,38.0,-6.3,88,749,0.00,2.78,0.00,0.000,6,0.000,0.113,2359,2192,3887
$GC,938,-0.77,-97.8,49.2,-5.6,104,943,0.00,2.95,0.00,0.000,4,0.000,0.140,2359,778,3888
$GC,991,-0.77,-97.8,52.1,-5.8,107,997,0.00,2.85,0.00,0.000,6,0.000,0.107,2359,2215,3887
$GC,1187,-0.77,-97.8,62.9,-5.0,123,1191,0.00,2.83,0.00,0.000,4,0.000,0.137,2359,3566,3888
$GC,1233,-0.77,-97.8,65.6,-6.0,126,1238,0.00,2.80,0.00,0.000,6,0.000,0.115,2359,2192,3888
$GC,1429,-0.77,-97.8,76.9,-5.5,141,1433,0.00,2.92,0.00,0.000,4,0.000,0.138,2359,781,3889
$GC,1475,-0.77,-97.8,79.4,-5.3,144,1479,0.00,2.83,0.00,0.000,6,0.000,0.107,2359,2206,3889
$GC,1670,-0.77,-97.8,90.6,-5.7,159,1675,0.00,2.83,0.00,0.000,4,0.000,0.134,2359,3568,3888
$GC,1696,-0.77,-97.8,92.0,-5.4,160,1702,0.00,2.80,0.00,0.000,6,0.000,0.117,2359,2192,3889
$STATE,1853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1853,begin apogee
$GC,1859,-0.31,0.0,100.7,5.5,173,1938,0.52,0.00,74.32,0.738,6,0.130,0.000,2459,2042,3484
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1942,0.77,97.8,102.8,0.0,180,2027,1.12,0.00,78.43,0.726,6,0.100,0.000,2691,2040,3085
$GC,2216,0.82,146.7,90.2,6.4,202,2256,0.00,0.00,37.78,0.721,6,0.000,0.000,2691,2039,2885
$GC,2441,0.82,146.7,74.1,7.9,220,2446,0.00,2.88,0.00,0.000,4,0.000,0.123,2690,627,2887
$GC,2479,0.82,146.7,71.1,7.8,222,2486,0.00,2.72,0.00,0.000,6,0.000,0.080,2691,2067,2886
$GC,2675,0.82,146.7,56.5,7.4,238,2680,0.00,2.83,0.00,0.000,4,0.000,0.118,2691,3466,2886
$GC,2734,0.82,146.7,51.6,8.3,242,2739,0.00,2.80,0.00,0.000,6,0.000,0.097,2691,2041,2887
$GC,2930,0.82,148.7,37.0,7.4,257,2937,0.00,2.90,1.48,0.791,4,0.000,0.129,2691,627,2876
$GC,3016,0.83,152.5,30.5,7.3,263,3028,0.00,2.70,2.85,0.761,6,0.000,0.078,2691,2059,2862
$GC,3220,0.90,216.7,16.5,6.1,283,3275,0.15,0.00,49.28,0.685,6,0.078,0.000,2727,2059,2600
$GC,3341,0.90,216.7,6.1,10.7,302,3347,0.00,2.70,0.00,0.000,4,0.000,0.091,2728,3465,2599
$STATE,3357,end climb,SURFACE_DEPTH_REACHED
$STATE,3357,begin surface coast
$FINISH,0.6,1.021858
$STATE,3420,end surface coast,CONTROL_FINISHED_OK
$STATE,3420,begin surface
$SM_CCo,3445,125.85,0.643,0,0,1648,450.13
$SM_GC,1.25,0.00,0.00,125.85,0.000,0.000,0.643,35,2180,1648,-11.48,-0.59,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2083
$TCM_TEMP,19.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,70.3,7.9
$24V_AH,23.8,36.358
$10V_AH,10.2,9.533
$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,27.750,68.100,244.125,125.850,0.000,32.595,36.957,123.044,2.500,0.000,0.000,33.373,584.375,1870.075,548.519,553.856,396.235,33.348,898.484,0.000,536.001,0.000,9.647
$DEVICE_MAMPS,195.585,155.701,790.777,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9569,314
$CFSIZE,260034560,248938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,105347,4739.392,-12253.154,14,3.3,33,18.3