version: 66.02
glider: 22
mission: 2
dive: 328
start: 10 2 107 20 28 39
data:
$ID,22
$MISSION,2
$DIVE,328
$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,-116721.49
$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,10
$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
$GPS1,201932,4739.488,-12252.584,38,1.7,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.0
$GPS2,202715,4739.576,-12252.365,15,1.5,15,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.236
$KALMAN_X,48510.0,241.6,107.0,-48086.1,198.0
$KALMAN_Y,20865.3,164.8,73.9,-21323.1,198.7
$MHEAD_RNG_PITCHd_Wd,193.1,207,-11.1,-7.407
$D_GRID,124
$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,-0.80,-97.8,0.0,0.0,0,95,0.00,0.00,-67.10,0.000,2,0.000,0.000,38,2176,3036
$GC,99,-0.80,-97.8,2.2,-2.6,11,160,13.60,2.92,-40.70,0.000,4,0.198,0.146,2348,3563,3883
$GC,207,-0.80,-97.8,5.7,-5.8,28,213,0.00,2.75,0.00,0.000,6,0.000,0.108,2348,2196,3883
$GC,279,-0.80,-97.8,10.3,-6.2,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2196,3883
$GC,352,-0.80,-97.8,15.0,-6.3,50,358,0.00,2.95,0.00,0.000,4,0.000,0.141,2348,786,3884
$GC,385,-0.80,-97.8,17.1,-6.5,55,391,0.00,2.83,0.00,0.000,6,0.000,0.110,2348,2203,3883
$GC,463,-0.80,-97.8,21.6,-5.7,65,467,0.00,2.88,0.00,0.000,4,0.000,0.140,2348,3571,3884
$GC,509,-0.80,-97.8,24.6,-6.8,68,514,0.00,2.78,0.00,0.000,6,0.000,0.110,2348,2198,3884
$GC,705,-0.80,-97.8,36.3,-5.7,83,709,0.00,2.95,0.00,0.000,4,0.000,0.140,2348,785,3884
$GC,797,-0.80,-97.8,41.8,-5.8,89,803,0.00,2.85,0.00,0.000,6,0.000,0.110,2348,2212,3885
$GC,992,-0.80,-97.8,53.9,-6.3,105,997,0.00,2.85,0.00,0.000,4,0.000,0.139,2348,3573,3885
$GC,1071,-0.80,-97.8,59.0,-6.4,110,1077,0.00,2.80,0.00,0.000,6,0.000,0.112,2349,2186,3885
$GC,1267,-0.80,-97.8,70.3,-5.4,126,1271,0.00,2.95,0.00,0.000,4,0.000,0.142,2348,777,3885
$GC,1292,-0.80,-97.8,71.6,-5.2,127,1299,0.00,2.85,0.00,0.000,6,0.000,0.110,2348,2205,3885
$GC,1488,-0.80,-97.8,80.7,-4.6,143,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2205,3885
$GC,1679,-0.80,-97.8,90.8,-6.3,158,1684,0.00,2.85,0.00,0.000,4,0.000,0.137,2348,3576,3885
$GC,1725,-0.80,-97.8,93.8,-6.0,161,1730,0.00,2.80,0.00,0.000,6,0.000,0.114,2348,2194,3885
$STATE,1855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1855,begin apogee
$GC,1862,-0.31,0.0,100.6,4.6,171,1942,0.57,0.00,76.88,0.745,6,0.134,0.000,2457,2045,3484
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1946,0.80,97.8,102.3,0.0,178,2027,1.23,0.00,75.85,0.726,6,0.102,0.000,2704,2043,3085
$GC,2215,0.82,111.9,86.5,7.1,200,2228,0.00,0.00,10.88,0.743,6,0.000,0.000,2704,2042,3027
$GC,2417,0.82,111.9,71.7,7.6,216,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2041,3027
$GC,2608,0.86,148.3,58.4,6.6,231,2641,0.00,0.00,27.65,0.717,6,0.000,0.000,2704,2041,2878
$GC,2831,0.86,148.3,40.4,8.1,249,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2041,2878
$GC,3022,0.86,148.3,24.5,8.5,264,3026,0.00,2.90,0.00,0.000,4,0.000,0.128,2703,625,2879
$GC,3060,0.86,148.3,20.9,9.5,266,3067,0.00,2.72,0.00,0.000,6,0.000,0.082,2703,2061,2878
$GC,3265,0.95,231.8,5.3,5.5,296,3273,0.15,0.00,5.62,0.729,2,0.077,0.000,2735,2062,2848
$STATE,3274,end climb,SURFACE_DEPTH_REACHED
$STATE,3274,begin surface coast
$FINISH,0.5,1.005767
$STATE,3380,end surface coast,CONTROL_FINISHED_OK
$STATE,3380,begin surface
$SM_CCo,3402,154.82,0.647,0,0,1648,450.13
$SM_GC,1.26,0.00,0.00,154.82,0.000,0.000,0.647,37,2214,1648,-11.47,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2070
$TCM_TEMP,19.80
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,50.7,7.9
$24V_AH,23.8,37.198
$10V_AH,10.2,9.778
$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,27.800,46.225,196.875,154.825,0.000,66.806,74.856,164.371,6.250,0.000,0.000,15.856,597.229,1995.680,489.224,510.866,474.679,33.343,806.733,0.000,515.434,0.000,6.876
$DEVICE_MAMPS,197.886,146.497,744.757,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,207.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9569,313
$CFSIZE,260034560,248659968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,212845,4739.428,-12252.328,13,1.6,13,18.3