version: 66.02
glider: 117
mission: 4
dive: 32
start: 9 23 107 5 28 5
data:
$ID,117
$MISSION,4
$DIVE,32
$D_SURF,2
$D_FLARE,2
$D_TGT,120
$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,80
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17147.93
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,051408,4738.820,-12253.391,10,1.1,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.6
$GPS2,052657,4738.895,-12253.340,13,1.8,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,-0.207
$KALMAN_X,8212.4,-94.0,145.2,-9067.6,57.2
$KALMAN_Y,5407.9,-154.1,119.2,-7031.6,123.1
$MHEAD_RNG_PITCHd_Wd,156.0,694,-20.3,-8.889
$D_GRID,137
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,87,0.00,0.00,-61.20,0.000,2,0.000,0.000,410,2091,2682
$GC,90,-1.68,-97.8,2.0,-3.5,10,152,13.25,2.58,-38.62,0.000,4,0.196,0.065,2527,3493,3603
$GC,190,-1.68,-97.8,6.6,-9.1,26,197,0.00,2.40,0.00,0.000,6,0.000,0.034,2527,2101,3604
$GC,262,-1.68,-97.8,14.0,-10.3,37,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2101,3605
$GC,334,-1.68,-97.8,21.4,-10.8,47,338,0.00,2.60,0.00,0.000,4,0.000,0.064,2527,705,3605
$GC,379,-1.68,-97.8,26.4,-10.7,50,383,0.00,2.45,0.00,0.000,6,0.000,0.035,2527,2105,3605
$GC,581,-1.68,-97.8,46.1,-9.8,66,585,0.00,2.50,0.00,0.000,4,0.000,0.055,2527,3498,3606
$GC,622,-1.68,-97.8,50.2,-10.3,69,626,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2102,3606
$GC,817,-1.68,-97.8,69.8,-10.4,84,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2102,3607
$GC,1008,-1.68,-97.8,88.5,-9.9,99,1012,0.00,2.50,0.00,0.000,4,0.000,0.054,2526,3496,3606
$GC,1074,-1.68,-97.8,95.2,-10.7,103,1080,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2101,3606
$GC,1268,-1.68,-97.8,115.0,-10.5,119,1272,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3502,3606
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1327,-0.38,0.0,120.6,10.8,123,1408,1.45,0.00,77.53,0.680,6,0.110,0.000,2810,2005,3202
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1411,1.68,97.8,123.5,0.0,130,1493,2.10,0.00,76.05,0.663,6,0.065,0.000,3268,2006,2803
$GC,1679,1.72,127.1,107.5,7.1,152,1708,0.00,2.60,22.33,0.683,4,0.000,0.051,3268,3394,2683
$GC,1920,1.72,127.1,84.2,10.2,170,1927,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2006,2680
$GC,2116,1.72,127.1,65.0,9.7,186,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2006,2680
$GC,2307,1.72,127.1,47.0,9.2,201,2311,0.00,2.50,0.00,0.000,4,0.000,0.053,3268,3393,2680
$GC,2471,1.72,127.1,31.4,9.3,213,2476,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,1998,2680
$GC,2672,1.75,152.6,14.7,7.3,233,2696,0.00,0.00,18.98,0.659,6,0.000,0.000,3268,1998,2578
$GC,2761,1.76,157.1,7.0,8.6,247,2769,0.00,2.60,2.90,0.747,4,0.000,0.053,3268,3393,2561
$GC,2968,1.94,304.0,3.1,-0.1,278,2994,0.25,2.42,20.27,0.644,2,0.051,0.036,3327,1997,2393
$STATE,2995,end climb,NO_VERTICAL_VELOCITY
$STATE,2995,begin surface
$SM_CCo,3003,198.25,0.567,0,0,746,602.46
$SM_GC,0.91,13.18,0.00,0.00,0.039,0.000,0.000,409,2110,741,-11.41,0.28,603.68
$IRIDIUM_FIX,4719.74,-12254.47,230907,090944
$TT8_MAMPS,0.071331
$HUMID,2299
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.0,9.3
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.8,18.664
$10V_AH,10.1,11.278
$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,30.225,40.125,218.050,198.250,0.000,102.698,76.369,338.086,0.750,0.000,4033.000,13.296,525.871,1867.659,530.704,522.095,663.547,33.335,840.747,0.000,501.234,0.000,4.104
$DEVICE_MAMPS,196.352,65.195,747.058,566.813,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.614,0.000,0.000,0.000,0.000,0.000,0.000,4033.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9590,282
$CFSIZE,260231168,256479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230907,062403,4738.618,-12253.250,13,1.6,13,18.3