version: 66.02
glider: 23
mission: 2
dive: 527
start: 10 10 107 17 36 22
data:
$ID,23
$MISSION,2
$DIVE,527
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,60
$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,120
$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,707.44519
$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,-28841.752
$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,2140
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,42
$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,3
$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
$GPS1,171727,4745.046,-12250.363,11,1.6,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-62.9
$GPS2,173507,4744.938,-12250.415,14,1.7,30,18.3
$SPEED_LIMITS,0.226,0.236
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.051,-0.231
$KALMAN_X,-1001.5,176.1,-76.0,275.4,-55.8
$KALMAN_Y,451.4,707.1,29.2,-2428.4,-91.6
$MHEAD_RNG_PITCHd_Wd,149.2,596,-20.2,-10.556
$D_GRID,100
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.39,-117.3,0.0,0.0,0,177,0.00,0.00,-142.12,0.000,2,0.000,0.000,370,2159,3455
$GC,181,-1.39,-117.3,2.0,-4.5,24,218,10.85,3.03,-16.88,0.000,4,0.150,0.059,2303,736,3962
$GC,245,-1.39,-117.3,9.5,-17.8,34,251,0.00,2.80,0.00,0.000,6,0.000,0.029,2304,2132,3964
$GC,318,-1.39,-117.3,20.4,-15.2,45,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2134,3966
$GC,507,-1.39,-117.3,43.1,-11.5,60,511,0.00,2.47,0.00,0.000,4,0.000,0.050,2303,3549,3967
$GC,709,-1.39,-117.3,66.0,-11.0,74,715,0.00,2.35,0.00,0.000,6,0.000,0.035,2304,2154,3967
$GC,905,-1.39,-117.3,88.1,-11.0,90,909,0.00,2.42,0.00,0.000,4,0.000,0.050,2304,3550,3968
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,978,-0.31,0.0,95.5,11.3,94,1071,1.17,0.00,88.88,0.739,6,0.100,0.000,2537,1874,3485
$STATE,1078,end apogee,CONTROL_FINISHED_OK
$STATE,1078,begin climb
$GC,1082,1.39,117.3,98.7,0.0,102,1176,1.73,0.00,89.90,0.729,6,0.067,0.000,2911,1874,3005
$GC,1363,1.39,117.3,69.2,12.5,125,1367,0.00,2.60,0.00,0.000,4,0.000,0.043,2911,3301,3007
$GC,1396,1.39,117.3,64.9,13.3,127,1400,0.00,2.60,0.00,0.000,6,0.000,0.040,2911,1884,3008
$GC,1592,1.39,117.3,41.0,12.3,142,1596,0.00,2.60,0.00,0.000,4,0.000,0.044,2911,3307,3007
$GC,1644,1.39,117.3,34.4,12.6,145,1650,0.00,2.60,0.00,0.000,6,0.000,0.039,2911,1884,3008
$GC,1844,1.45,167.2,13.1,8.0,166,1887,0.00,2.92,36.50,0.682,4,0.000,0.059,2911,471,2802
$STATE,1924,end climb,SURFACE_DEPTH_REACHED
$STATE,1924,begin surface coast
$FINISH,3.9,1.022313
$STATE,1932,end surface coast,CONTROL_FINISHED_OK
$STATE,1932,begin surface
$SM_CCo,1970,263.20,0.627,1,0,600,707.45
$SM_GC,0.72,0.00,0.00,263.20,0.000,0.000,0.627,365,2137,600,-10.33,-0.08,707.45
$IRIDIUM_FIX,4726.11,-12250.84,101007,212100
$TT8_MAMPS,0.04602
$HUMID,2041
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,8.2
$24V_AH,24.0,44.931
$10V_AH,10.0,15.879
$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,25.650,32.725,215.275,263.200,0.000,196.534,375.841,0.000,0.500,0.000,0.000,31.893,317.422,1201.631,625.210,360.995,813.939,33.321,854.332,0.000,325.707,0.000,5.375
$DEVICE_MAMPS,150.332,59.059,739.388,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,117.882,0.000,0.000,0.000,0.000,0.000,3338.360,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.140,0.000
$DATA_FILE_SIZE,3318,180
$CFSIZE,260034560,243224576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101007,181444,4744.690,-12250.366,11,1.7,16,18.3