version: 66.02
glider: 117
mission: 4
dive: 45
start: 9 23 107 19 0 52
data:
$ID,117
$MISSION,4
$DIVE,45
$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,-17455.566
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,185133,4739.420,-12253.213,14,1.3,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.0
$GPS2,185945,4739.414,-12253.214,15,1.3,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H4
$TGT_LATLONG,4739.000,-12253.603
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.168
$KALMAN_X,9753.9,248.1,37.3,-10683.9,-78.4
$KALMAN_Y,6644.7,257.5,-0.5,-7594.6,-192.5
$MHEAD_RNG_PITCHd_Wd,197.8,907,-20.3,-8.889
$D_GRID,119
$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,25,-1.68,-97.8,0.0,0.0,0,89,0.00,0.00,-61.78,0.000,2,0.000,0.000,411,2093,2682
$GC,92,-1.68,-97.8,2.2,-4.1,10,153,13.30,2.62,-37.22,0.000,4,0.199,0.067,2525,3509,3603
$GC,383,-1.68,-97.8,29.1,-9.7,48,390,0.00,2.45,0.00,0.000,6,0.000,0.034,2526,2107,3605
$GC,579,-1.68,-97.8,47.8,-9.9,64,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2107,3606
$GC,770,-1.68,-97.8,67.7,-11.3,79,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2107,3606
$GC,959,-1.68,-97.8,88.1,-10.4,94,963,0.00,2.53,0.00,0.000,4,0.000,0.054,2526,3506,3605
$GC,991,-1.68,-97.8,91.7,-10.8,96,995,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2094,3605
$GC,1193,-1.68,-97.8,110.7,-8.9,112,1197,0.00,2.55,0.00,0.000,4,0.000,0.054,2526,3506,3606
$GC,1232,-1.68,-97.8,114.4,-9.3,115,1236,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2100,3605
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1299,-0.38,0.0,119.8,8.2,120,1381,1.48,0.00,77.28,0.676,6,0.105,0.000,2814,1995,3202
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,1.68,97.8,121.6,0.0,127,1469,2.15,2.62,75.70,0.657,4,0.064,0.052,3269,3395,2802
$GC,1556,1.70,113.9,113.0,7.9,141,1574,0.00,2.45,11.98,0.687,6,0.000,0.035,3269,1999,2737
$GC,1763,1.75,148.7,98.0,6.8,157,1799,0.00,2.62,26.60,0.663,4,0.000,0.053,3269,3398,2595
$GC,1891,1.75,148.7,85.5,11.1,167,1895,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2000,2594
$GC,2093,1.75,148.7,64.2,10.7,183,2097,0.00,2.53,0.00,0.000,4,0.000,0.053,3269,3399,2593
$GC,2159,1.75,148.7,57.4,10.3,188,2163,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2000,2594
$GC,2361,1.75,148.7,36.9,10.0,204,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2001,2593
$GC,2551,1.75,148.7,19.0,9.1,219,2558,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3403,2593
$GC,2689,1.77,171.0,7.1,7.5,240,2714,0.00,2.45,16.83,0.649,6,0.000,0.036,3269,2001,2503
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,1.0,1.020454
$STATE,2779,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2806,125.75,0.585,0,0,1366,450.13
$SM_GC,0.96,0.00,0.00,125.75,0.000,0.000,0.585,413,2114,1366,-11.44,0.40,450.13
$IRIDIUM_FIX,4719.74,-12317.49,230907,212114
$TT8_MAMPS,0.073632
$HUMID,2245
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,23
$ALTIM_TOP_PING,9.6,9.0
$ALTIM_BOTTOM_PING,94.1,999.0
$24V_AH,23.8,19.907
$10V_AH,10.1,12.299
$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,30.325,35.450,208.375,125.750,0.000,64.184,38.547,207.457,6.250,12.450,3526.550,15.787,474.975,1626.341,444.371,464.472,442.009,33.336,723.525,0.000,444.751,0.000,4.102
$DEVICE_MAMPS,198.653,66.729,687.232,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,179.379,0.000,0.000,0.000,0.000,0.000,0.000,3539.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6444,254
$CFSIZE,260231168,256069632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230907,195053,4739.004,-12253.518,15,6.7,34,18.3