version: 66.02
glider: 23
mission: 2
dive: 520
start: 10 10 107 11 29 40
data:
$ID,23
$MISSION,2
$DIVE,520
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,-28784.375
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$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,2100
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$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,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,111733,4745.598,-12249.817,10,1.9,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.2
$GPS2,112823,4745.663,-12249.804,13,3.0,32,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.052,-0.218
$KALMAN_X,-1151.2,212.5,93.8,976.4,-54.3
$KALMAN_Y,-1067.2,752.4,352.4,62.4,-4.2
$MHEAD_RNG_PITCHd_Wd,175.0,2065,-20.1,-10.000
$D_GRID,172
$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,27,-1.37,-107.5,0.0,0.0,0,176,0.00,0.00,-146.38,0.000,2,0.000,0.000,364,2150,3504
$GC,180,-1.37,-107.5,2.0,-5.8,24,212,10.88,2.35,-13.93,0.000,4,0.150,0.061,2307,3483,3923
$GC,249,-1.37,-107.5,8.0,-12.1,34,255,0.00,2.42,0.00,0.000,6,0.000,0.035,2307,2081,3924
$GC,322,-1.37,-107.5,16.2,-9.8,45,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2081,3924
$GC,399,-1.37,-107.5,24.2,-10.2,54,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2081,3924
$GC,594,-1.37,-107.5,42.5,-9.6,69,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2081,3924
$GC,793,-1.37,-107.5,62.3,-9.9,85,798,0.00,2.47,0.00,0.000,4,0.000,0.049,2307,3483,3924
$GC,981,-1.37,-107.5,81.9,-9.8,98,987,0.00,2.38,0.00,0.000,6,0.000,0.035,2307,2095,3924
$STATE,1061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1061,begin apogee
$GC,1070,-0.31,0.0,90.2,9.9,105,1160,1.12,0.00,82.30,0.742,6,0.096,0.000,2535,1885,3484
$STATE,1161,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1164,1.37,107.5,92.8,0.0,113,1253,1.75,2.90,80.80,0.734,4,0.065,0.056,2907,486,3045
$GC,1267,1.37,107.5,85.5,10.3,121,1274,0.00,2.62,0.00,0.000,6,0.000,0.028,2907,1848,3045
$GC,1465,1.37,107.5,61.6,12.3,137,1469,0.00,2.70,0.00,0.000,4,0.000,0.045,2907,3316,3045
$GC,1564,1.37,107.5,49.4,12.3,144,1569,0.00,2.60,0.00,0.000,6,0.000,0.040,2907,1894,3045
$GC,1761,1.37,107.5,26.0,12.1,159,1765,0.00,2.60,0.00,0.000,4,0.000,0.044,2907,3312,3045
$GC,1807,1.37,107.5,20.1,12.3,162,1812,0.00,2.60,0.00,0.000,6,0.000,0.038,2907,1889,3045
$STATE,1936,end climb,SURFACE_DEPTH_REACHED
$STATE,1936,begin surface coast
$FINISH,0.1,1.022359
$STATE,1977,end surface coast,CONTROL_FINISHED_OK
$STATE,1977,begin surface
$SM_CCo,2002,161.90,0.640,0,0,1649,450.13
$SM_GC,0.69,0.00,0.00,161.90,0.000,0.000,0.640,367,2134,1649,-10.32,0.96,450.13
$IRIDIUM_FIX,4729.30,-12324.53,101007,151537
$TT8_MAMPS,0.026845
$HUMID,2094
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,75.7,999.0
$24V_AH,24.0,44.173
$10V_AH,10.2,15.663
$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,25.225,26.575,163.100,161.900,0.000,73.355,144.629,245.547,1.750,0.000,0.000,34.393,364.131,1029.134,470.868,370.069,618.832,33.332,711.101,0.000,343.785,0.000,7.061
$DEVICE_MAMPS,149.565,61.360,741.689,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3307,187
$CFSIZE,260034560,243417088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,120708,4745.527,-12249.800,35,2.0,36,18.3