version: 66.02
glider: 22
mission: 2
dive: 393
start: 10 5 107 10 56 14
data:
$ID,22
$MISSION,2
$DIVE,393
$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,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,-118332.52
$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,15
$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
$GPS1,105025,4740.760,-12250.256,30,1.7,46,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.2
$GPS2,105450,4740.766,-12250.228,12,1.7,12,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.233,0.028
$KALMAN_X,56126.4,-82.5,38.9,-52648.9,206.8
$KALMAN_Y,16679.0,-550.7,-45.1,-14092.3,-80.9
$MHEAD_RNG_PITCHd_Wd,258.7,235,-10.8,-6.296
$D_GRID,90
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.77,-88.0,0.0,0.0,0,98,0.00,0.00,-67.15,0.000,2,0.000,0.000,39,2218,3047
$GC,102,-0.77,-88.0,2.2,-2.0,11,157,13.60,0.00,-34.67,0.000,6,0.197,0.000,2355,2219,3843
$GC,223,-0.77,-88.0,8.4,-7.4,30,229,0.00,2.85,0.00,0.000,4,0.000,0.142,2355,3562,3845
$GC,242,-0.77,-88.0,9.6,-6.6,33,248,0.00,2.75,0.00,0.000,6,0.000,0.110,2355,2197,3845
$GC,314,-0.77,-88.0,14.3,-6.8,44,320,0.00,2.97,0.00,0.000,4,0.000,0.141,2355,777,3845
$GC,354,-0.77,-88.0,17.1,-6.9,50,360,0.00,2.88,0.00,0.000,6,0.000,0.114,2355,2203,3845
$GC,425,-0.77,-88.0,21.6,-5.9,59,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2204,3845
$GC,619,-0.77,-88.0,31.7,-5.9,74,623,0.00,2.95,0.00,0.000,4,0.000,0.131,2354,783,3845
$GC,656,-0.77,-88.0,34.3,-6.2,76,663,0.00,2.88,0.00,0.000,6,0.000,0.114,2355,2216,3845
$GC,853,-0.77,-88.0,46.1,-5.7,92,858,0.00,2.90,0.00,0.000,4,0.000,0.149,2355,3572,3846
$GC,886,-0.77,-88.0,48.1,-6.2,94,890,0.00,2.80,0.00,0.000,6,0.000,0.111,2355,2188,3846
$GC,1082,-0.77,-88.0,58.7,-5.6,109,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2188,3846
$GC,1273,-0.77,-88.0,69.4,-5.6,124,1278,0.00,2.95,0.00,0.000,4,0.000,0.143,2355,779,3846
$GC,1319,-0.77,-88.0,72.1,-5.7,127,1324,0.00,2.88,0.00,0.000,6,0.000,0.114,2355,2208,3846
$GC,1515,-0.77,-88.0,82.2,-4.8,142,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2208,3847
$STATE,1575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1575,begin apogee
$GC,1582,-0.31,0.0,85.1,4.4,147,1654,0.55,0.00,68.50,0.732,6,0.133,0.000,2459,2040,3484
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1658,0.77,88.0,86.1,0.0,153,1730,1.15,0.00,68.30,0.717,6,0.108,0.000,2692,2035,3125
$GC,1914,0.80,111.5,73.8,5.7,174,1939,0.00,2.92,17.75,0.725,4,0.000,0.122,2691,625,3029
$GC,2033,0.80,111.5,65.6,6.7,183,2038,0.00,2.72,0.00,0.000,6,0.000,0.079,2691,2065,3029
$GC,2229,0.81,122.2,53.2,6.0,198,2242,0.00,2.92,8.23,0.737,4,0.000,0.120,2691,3464,2985
$GC,2287,0.81,122.2,49.1,7.6,202,2295,0.00,2.80,0.00,0.000,6,0.000,0.093,2691,2038,2985
$GC,2484,0.81,122.2,36.0,6.7,218,2489,0.00,2.85,0.00,0.000,4,0.000,0.124,2691,630,2984
$GC,2543,0.81,122.2,32.0,6.8,222,2548,0.00,2.70,0.00,0.000,6,0.000,0.080,2691,2060,2985
$GC,2738,0.81,122.2,19.4,6.9,237,2745,0.00,2.92,0.00,0.000,4,0.000,0.122,2691,626,2985
$GC,2804,0.81,122.2,14.8,6.9,247,2810,0.00,2.72,0.00,0.000,6,0.000,0.082,2692,2065,2985
$GC,2877,0.87,183.8,10.9,4.8,258,2933,0.12,2.90,46.58,0.679,4,0.080,0.122,2717,3459,2733
$GC,2948,0.91,217.9,7.3,5.4,269,2984,0.00,2.80,26.23,0.673,6,0.000,0.093,2717,2038,2594
$STATE,2988,end climb,SURFACE_DEPTH_REACHED
$STATE,2988,begin surface coast
$FINISH,0.6,1.011484
$STATE,3075,end surface coast,CONTROL_FINISHED_OK
$STATE,3075,begin surface
$SM_CCo,3098,120.75,0.644,0,0,1648,450.13
$SM_GC,1.37,0.00,0.00,120.75,0.000,0.000,0.644,38,2210,1648,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2062
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.6,7.9
$24V_AH,23.8,43.125
$10V_AH,10.2,11.355
$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,27.650,57.775,235.575,120.750,0.000,32.579,35.213,103.407,2.000,0.000,0.000,12.952,547.366,1668.673,483.095,477.324,353.821,33.339,799.946,0.000,484.232,0.000,5.348
$DEVICE_MAMPS,197.119,148.798,737.087,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6434,289
$CFSIZE,260034560,246980608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,115107,4740.652,-12250.377,34,1.7,38,18.3