version: 66.02
glider: 22
mission: 2
dive: 391
start: 10 5 107 8 45 59
data:
$ID,22
$MISSION,2
$DIVE,391
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$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,90
$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,693.21777
$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,-118287.91
$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,8
$R_STBD_OVSHOOT,10
$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
$GPS1,082432,4740.542,-12250.661,42,1.2,42,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.7
$GPS2,084433,4740.439,-12250.659,16,1.3,16,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.093,0.227
$KALMAN_X,55793.2,-111.5,-197.5,-52583.0,50.1
$KALMAN_Y,17156.0,-450.2,-159.6,-15154.7,-48.3
$MHEAD_RNG_PITCHd_Wd,4.0,655,-10.1,-6.296
$D_GRID,93
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.73,-88.0,0.0,0.0,0,147,0.00,0.00,-114.97,0.000,2,0.000,0.000,38,2210,3040
$GC,150,-0.73,-88.0,2.1,-1.9,19,205,13.62,0.00,-37.83,0.000,6,0.196,0.000,2367,2207,3844
$GC,271,-0.73,-88.0,7.2,-7.0,38,277,0.00,2.88,0.00,0.000,4,0.000,0.142,2367,3563,3847
$GC,317,-0.73,-88.0,10.4,-7.0,45,323,0.00,2.78,0.00,0.000,6,0.000,0.111,2367,2189,3847
$GC,389,-0.73,-88.0,14.9,-5.9,56,396,0.00,2.95,0.00,0.000,4,0.000,0.140,2366,779,3848
$GC,509,-0.73,-88.0,22.1,-5.8,72,514,0.00,2.88,0.00,0.000,6,0.000,0.112,2367,2209,3848
$GC,705,-0.73,-88.0,32.2,-5.2,87,709,0.00,2.88,0.00,0.000,4,0.000,0.143,2366,3573,3848
$GC,791,-0.73,-88.0,36.9,-5.9,93,795,0.00,2.80,0.00,0.000,6,0.000,0.110,2366,2189,3848
$GC,987,-0.73,-88.0,46.5,-4.8,108,991,0.00,2.92,0.00,0.000,4,0.000,0.141,2366,778,3848
$GC,1074,-0.73,-88.0,50.8,-4.9,114,1078,0.00,2.88,0.00,0.000,6,0.000,0.113,2366,2211,3848
$GC,1270,-0.73,-88.0,59.9,-5.0,129,1274,0.00,2.85,0.00,0.000,4,0.000,0.144,2367,3568,3848
$GC,1343,-0.73,-88.0,63.5,-5.5,134,1347,0.00,2.80,0.00,0.000,6,0.000,0.114,2366,2190,3848
$GC,1538,-0.73,-88.0,73.3,-5.4,149,1543,0.00,2.95,0.00,0.000,4,0.000,0.143,2366,780,3848
$GC,1604,-0.73,-88.0,76.8,-5.1,153,1610,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2211,3848
$STATE,1773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1774,begin apogee
$GC,1780,-0.31,0.0,85.0,5.3,167,1883,0.45,0.00,97.62,0.706,6,0.130,0.000,2455,2042,3484
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1884,begin climb
$GC,1887,0.73,88.0,87.8,0.0,176,1964,1.12,2.83,69.97,0.713,4,0.108,0.106,2682,627,3125
$GC,2079,0.73,88.3,80.2,6.3,191,2083,0.00,2.70,0.00,0.000,6,0.000,0.076,2682,2062,3128
$GC,2274,0.77,128.5,69.4,5.4,206,2312,0.00,2.92,31.85,0.708,4,0.000,0.114,2682,3469,2960
$GC,2370,0.77,128.5,62.8,7.4,213,2377,0.00,2.78,0.00,0.000,6,0.000,0.088,2682,2043,2961
$GC,2567,0.77,128.5,48.7,7.7,229,2571,0.00,2.83,0.00,0.000,4,0.000,0.116,2682,628,2961
$GC,2641,0.77,128.5,43.5,7.7,234,2646,0.00,2.70,0.00,0.000,6,0.000,0.080,2682,2058,2961
$GC,2837,0.77,128.5,30.1,6.7,249,2841,0.00,2.88,0.00,0.000,4,0.000,0.123,2682,3470,2961
$GC,2870,0.77,128.5,27.9,7.1,251,2874,0.00,2.75,0.00,0.000,6,0.000,0.087,2682,2046,2962
$GC,3068,0.83,182.9,15.8,5.1,271,3117,0.12,2.95,41.28,0.681,4,0.074,0.127,2711,633,2738
$GC,3196,0.83,182.9,6.8,7.3,291,3202,0.00,2.72,0.00,0.000,6,0.000,0.085,2712,2063,2738
$STATE,3226,end climb,SURFACE_DEPTH_REACHED
$STATE,3226,begin surface coast
$FINISH,0.5,1.002569
$STATE,3307,end surface coast,CONTROL_FINISHED_OK
$STATE,3307,begin surface
$SM_CCo,3330,256.67,0.630,0,0,658,693.22
$SM_GC,1.28,0.00,0.00,256.67,0.000,0.000,0.630,38,2210,658,-11.46,0.25,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2034
$TCM_TEMP,19.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.0,8.0
$24V_AH,23.8,42.963
$10V_AH,10.2,11.307
$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,27.550,63.125,240.725,256.675,0.000,164.785,194.824,419.873,2.250,0.000,0.000,16.478,577.200,2006.021,644.184,559.527,1049.388,33.345,1006.447,0.000,559.274,0.000,5.354
$DEVICE_MAMPS,195.585,144.196,713.310,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9570,308
$CFSIZE,260034560,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,094633,4740.608,-12250.299,10,1.6,10,18.3