version: 66.02
glider: 23
mission: 2
dive: 535
start: 10 11 107 0 43 21
data:
$ID,23
$MISSION,2
$DIVE,535
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$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,-28918.73
$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,20
$R_STBD_OVSHOOT,31
$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,720
$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
$GPS1,002556,4743.045,-12250.581,38,1.5,38,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.7
$GPS2,004156,4742.964,-12250.658,15,1.5,15,18.3
$SPEED_LIMITS,0.214,0.224
$TGT_NAME,WP1
$TGT_LATLONG,4743.050,-12250.817
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.176
$KALMAN_X,-1457.4,-123.6,-17.8,671.1,-28.1
$KALMAN_Y,359.3,76.6,-22.5,-5302.3,-94.5
$MHEAD_RNG_PITCHd_Wd,307.1,254,-21.2,-10.000
$D_GRID,163
$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,30,-1.45,-117.3,0.0,0.0,0,128,0.00,0.00,-95.32,0.000,2,0.000,0.000,367,2154,3340
$GC,133,-1.45,-117.3,2.0,-4.1,16,175,10.75,2.50,-22.50,0.000,4,0.149,0.061,2287,3558,3963
$GC,426,-1.45,-117.3,36.5,-12.1,51,432,0.00,2.40,0.00,0.000,6,0.000,0.034,2287,2138,3964
$GC,623,-1.45,-117.3,59.7,-11.7,67,626,0.00,2.45,0.00,0.000,4,0.000,0.048,2286,3546,3964
$STATE,876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,888,-0.31,0.0,90.7,12.3,86,982,1.25,0.00,90.60,0.737,6,0.100,0.000,2535,1884,3484
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin climb
$GC,989,1.45,117.3,94.1,0.0,94,1087,1.83,2.92,88.32,0.723,4,0.065,0.056,2922,467,3004
$GC,1102,1.45,117.3,85.5,12.0,103,1107,0.00,2.75,0.00,0.000,6,0.000,0.028,2922,1883,3005
$GC,1298,1.45,117.3,59.2,13.8,118,1302,0.00,2.60,0.00,0.000,4,0.000,0.043,2922,3307,3004
$GC,1397,1.45,117.3,45.6,13.6,125,1402,0.00,2.60,0.00,0.000,6,0.000,0.039,2922,1888,3004
$GC,1594,1.45,117.3,20.5,12.8,140,1598,0.00,2.60,0.00,0.000,4,0.000,0.043,2922,3307,3004
$GC,1660,1.45,117.3,12.3,11.4,149,1666,0.00,2.58,0.00,0.000,6,0.000,0.038,2922,1889,3004
$GC,1733,1.48,140.1,5.1,8.7,160,1740,0.00,0.00,4.78,0.726,2,0.000,0.000,2922,1889,2977
$STATE,1740,end climb,SURFACE_DEPTH_REACHED
$STATE,1741,begin surface coast
$FINISH,0.3,1.010933
$STATE,1811,end surface coast,CONTROL_FINISHED_OK
$STATE,1812,begin surface
$SM_CCo,1853,276.73,0.625,0,0,600,707.45
$SM_GC,0.80,0.00,0.00,276.73,0.000,0.000,0.625,364,2158,600,-10.33,0.48,707.45
$IRIDIUM_FIX,4722.92,-12221.66,111007,040408
$TT8_MAMPS,0.04602
$HUMID,2048
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,51.0,8.1
$24V_AH,24.0,45.759
$10V_AH,10.0,16.234
$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,25.450,26.925,183.700,276.725,0.000,196.066,392.359,0.000,2.000,0.000,0.000,16.742,323.373,1131.326,568.077,343.582,754.898,33.322,789.310,0.000,336.257,0.000,5.376
$DEVICE_MAMPS,148.798,60.593,737.087,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,113.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,34.608,0.000
$DATA_FILE_SIZE,3300,172
$CFSIZE,260034560,242991104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111007,012007,4743.084,-12250.835,22,1.1,27,18.3