version: 66.02
glider: 22
mission: 2
dive: 396
start: 10 5 107 14 28 3
data:
$ID,22
$MISSION,2
$DIVE,396
$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,-118394.29
$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,11
$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
$GPS1,141535,4740.896,-12250.480,8,8.6,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.9
$GPS2,142639,4740.729,-12250.557,16,2.0,16,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.219,0.109
$KALMAN_X,56472.7,59.5,345.4,-53846.1,16.1
$KALMAN_Y,15643.2,-611.8,-66.5,-13040.8,-142.0
$MHEAD_RNG_PITCHd_Wd,278.2,1831,-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,28,-0.73,-88.0,0.0,0.0,0,96,0.00,0.00,-66.62,0.000,2,0.000,0.000,35,2212,3042
$GC,100,-0.73,-88.0,2.2,-2.0,11,156,13.65,2.88,-34.17,0.000,4,0.196,0.150,2366,3563,3845
$GC,182,-0.73,-88.0,5.6,-6.8,24,188,0.00,2.78,0.00,0.000,6,0.000,0.110,2365,2190,3845
$GC,254,-0.73,-88.0,10.4,-6.9,35,261,0.00,2.95,0.00,0.000,4,0.000,0.140,2365,777,3846
$GC,294,-0.73,-88.0,12.7,-6.0,41,301,0.00,2.88,0.00,0.000,6,0.000,0.112,2365,2204,3846
$GC,367,-0.73,-88.0,16.3,-4.6,52,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2204,3846
$GC,440,-0.73,-88.0,20.0,-5.2,63,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2204,3846
$GC,633,-0.73,-88.0,29.2,-4.8,78,638,0.00,2.88,0.00,0.000,4,0.000,0.142,2366,3567,3846
$GC,721,-0.73,-88.0,33.9,-5.0,84,725,0.00,2.78,0.00,0.000,6,0.000,0.108,2365,2188,3847
$GC,916,-0.73,-88.0,43.0,-4.6,99,921,0.00,2.92,0.00,0.000,4,0.000,0.140,2365,776,3847
$GC,963,-0.73,-88.0,45.1,-4.9,102,968,0.00,2.88,0.00,0.000,6,0.000,0.111,2365,2211,3848
$GC,1159,-0.73,-88.0,54.3,-4.6,117,1163,0.00,2.88,0.00,0.000,4,0.000,0.145,2366,3568,3847
$GC,1232,-0.73,-88.0,58.1,-5.4,122,1237,0.00,2.78,0.00,0.000,6,0.000,0.112,2366,2188,3846
$GC,1428,-0.73,-88.0,67.8,-5.2,137,1432,0.00,2.92,0.00,0.000,4,0.000,0.140,2365,783,3847
$GC,1488,-0.73,-88.0,70.8,-5.2,141,1492,0.00,2.85,0.00,0.000,6,0.000,0.114,2365,2204,3847
$GC,1683,-0.73,-88.0,80.1,-4.9,156,1688,0.00,2.90,0.00,0.000,4,0.000,0.145,2366,3576,3847
$GC,1722,-0.73,-88.0,82.2,-5.6,158,1729,0.00,2.80,0.00,0.000,6,0.000,0.114,2366,2191,3847
$STATE,1789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1789,begin apogee
$GC,1796,-0.31,0.0,85.5,4.6,164,1868,0.50,0.00,69.07,0.736,6,0.129,0.000,2461,2038,3484
$STATE,1869,end apogee,CONTROL_FINISHED_OK
$STATE,1869,begin climb
$GC,1872,0.73,88.0,87.0,0.0,170,1945,1.10,0.00,68.50,0.718,6,0.103,0.000,2685,2037,3125
$GC,2135,0.73,92.2,73.9,6.2,191,2140,0.00,0.00,2.97,0.785,6,0.000,0.000,2684,2037,3108
$GC,2323,0.75,104.8,62.4,6.0,206,2339,0.00,2.90,9.50,0.745,4,0.000,0.118,2684,630,3055
$GC,2393,0.75,104.8,58.0,6.5,211,2400,0.00,2.70,0.00,0.000,6,0.000,0.079,2684,2058,3055
$GC,2589,0.75,108.7,46.0,6.2,227,2602,0.00,2.92,2.67,0.791,4,0.000,0.121,2684,3467,3040
$GC,2633,0.75,108.7,42.9,6.6,230,2641,0.00,2.78,0.00,0.000,6,0.000,0.091,2684,2044,3040
$GC,2830,0.77,124.4,31.6,5.9,246,2847,0.00,2.88,11.95,0.728,4,0.000,0.124,2684,636,2976
$GC,2888,0.77,124.4,27.9,6.9,250,2893,0.00,2.70,0.00,0.000,6,0.000,0.081,2684,2057,2976
$GC,3086,0.80,155.9,15.9,5.6,270,3116,0.00,0.00,23.70,0.700,6,0.000,0.000,2685,2057,2848
$GC,3183,0.81,165.9,10.0,6.1,285,3196,0.10,2.95,7.38,0.719,4,0.084,0.123,2706,3461,2806
$STATE,3267,end climb,SURFACE_DEPTH_REACHED
$STATE,3267,begin surface coast
$FINISH,3.1,1.022014
$STATE,3294,end surface coast,CONTROL_FINISHED_OK
$STATE,3294,begin surface
$SM_CCo,3321,150.50,0.646,0,0,1648,450.13
$SM_GC,1.42,0.00,0.00,150.50,0.000,0.000,0.646,38,2179,1648,-11.46,-0.59,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2064
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,43.403
$10V_AH,10.2,11.444
$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,27.725,62.675,195.750,150.500,0.000,97.788,243.022,102.995,1.500,0.000,0.000,16.694,592.594,1949.336,481.423,523.121,634.142,33.344,814.521,0.000,521.655,0.000,5.352
$DEVICE_MAMPS,196.352,150.332,790.777,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9615,302
$CFSIZE,260034560,246886400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,152659,4740.802,-12251.033,9,3.5,28,18.3