version: 66.02
glider: 116
mission: 4
dive: 41
start: 9 22 107 7 48 2
data:
$ID,116
$MISSION,4
$DIVE,41
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51361
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,400
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25822.84
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3893
$C_VBD,3281
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.025896728
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,074121,4738.539,-12253.091,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.2
$GPS2,074651,4738.559,-12253.013,13,1.5,13,18.3
$SPEED_LIMITS,0.175,0.240
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.053
$KALMAN_X,7698.3,318.8,139.3,-8179.2,177.3
$KALMAN_Y,3016.5,-4.3,-41.9,-4516.7,55.5
$MHEAD_RNG_PITCHd_Wd,237.4,242,-22.2,-10.101
$D_GRID,138
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.97,-95.0,0.0,0.0,0,91,0.00,0.00,-60.50,0.000,2,0.000,0.000,134,2053,3086
$GC,95,-2.00,-122.2,2.3,-5.5,10,138,15.27,2.65,-18.85,0.000,4,0.219,0.076,2452,648,3782
$GC,271,-2.00,-122.2,17.3,-9.2,37,278,0.00,2.50,0.00,0.000,6,0.000,0.038,2452,2068,3783
$GC,342,-2.00,-122.2,23.4,-8.8,45,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2067,3783
$GC,535,-2.00,-122.2,40.5,-9.3,60,540,0.00,2.62,0.00,0.000,4,0.000,0.061,2452,646,3784
$GC,634,-2.00,-122.2,50.2,-9.7,67,639,0.00,2.45,0.00,0.000,6,0.000,0.038,2452,2049,3784
$GC,837,-2.00,-122.2,69.6,-9.8,83,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2049,3784
$GC,1028,-2.00,-122.2,88.2,-9.9,98,1032,0.00,2.60,0.00,0.000,4,0.000,0.063,2452,645,3784
$GC,1106,-2.00,-122.2,96.3,-9.8,103,1113,0.00,2.47,0.00,0.000,6,0.000,0.038,2452,2059,3784
$STATE,1149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1156,-0.42,0.0,100.3,9.2,107,1307,1.77,0.00,144.57,0.633,6,0.116,0.000,2798,2494,3282
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1313,2.00,122.2,102.8,0.0,120,1467,2.40,2.70,142.50,0.609,4,0.058,0.078,3332,3888,2782
$GC,1560,2.00,122.2,72.3,17.1,139,1564,0.00,2.47,0.00,0.000,6,0.000,0.041,3332,2493,2782
$GC,1755,2.00,122.2,42.0,15.5,154,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2491,2782
$GC,1946,2.00,122.2,14.0,13.1,172,1953,0.00,2.65,0.00,0.000,4,0.000,0.072,3332,3894,2781
$STATE,2031,end climb,SURFACE_DEPTH_REACHED
$STATE,2032,begin surface coast
$FINISH,0.6,1.020320
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2043,begin surface
$SM_CCo,2077,132.48,0.567,0,0,1650,400.08
$SM_GC,0.77,0.00,0.00,132.48,0.000,0.000,0.567,134,2050,1650,-12.70,0.03,400.08
$IRIDIUM_FIX,4722.92,-12253.53,220907,101032
$TT8_MAMPS,0.067496
$HUMID,2099
$INTERNAL_PRESSURE,10.9184
$TCM_TEMP,19.70
$XPDR_PINGS,101
$ALTIM_TOP_PING,9.3,999.0
$24V_AH,23.9,9.317
$10V_AH,10.1,4.864
$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,34.125,27.250,287.075,132.475,0.000,39.132,36.563,134.395,26.000,0.000,2656.000,13.250,353.806,1012.869,487.319,360.134,357.066,33.334,725.829,0.000,342.871,0.000,5.670
$DEVICE_MAMPS,218.595,78.234,632.775,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,122.240,0.000,0.000,0.000,0.000,0.000,0.000,2656.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6449,187
$CFSIZE,260034560,255848448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,082608,4738.510,-12253.144,40,1.2,40,18.3