version: 66.02
glider: 117
mission: 4
dive: 56
start: 9 24 107 7 1 29
data:
$ID,117
$MISSION,4
$DIVE,56
$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,-17719.898
$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,23
$R_STBD_OVSHOOT,41
$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
$GPS1,064711,4738.663,-12252.669,12,3.2,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.2
$GPS2,070023,4738.717,-12252.492,12,2.8,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,-0.063
$KALMAN_X,13496.9,448.2,317.7,-14012.0,46.5
$KALMAN_Y,7872.7,93.3,239.0,-10191.6,-20.6
$MHEAD_RNG_PITCHd_Wd,234.2,950,-20.3,-8.889
$D_GRID,132
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.68,-97.8,0.0,0.0,0,76,0.00,0.00,-49.25,0.000,2,0.000,0.000,411,2109,2463
$GC,79,-1.68,-97.8,2.2,-3.5,8,147,13.15,2.50,-45.75,0.000,4,0.193,0.066,2527,3489,3603
$GC,154,-1.68,-97.8,5.1,-9.9,20,160,0.00,2.40,0.00,0.000,6,0.000,0.032,2526,2092,3603
$GC,226,-1.68,-97.8,10.4,-7.7,31,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2092,3604
$GC,297,-1.68,-97.8,17.2,-9.4,42,303,0.00,2.50,0.00,0.000,4,0.000,0.052,2527,3489,3604
$GC,329,-1.68,-97.8,20.3,-9.8,47,336,0.00,2.40,0.00,0.000,6,0.000,0.033,2527,2095,3606
$GC,524,-1.68,-97.8,38.7,-9.6,63,528,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3495,3605
$GC,569,-1.68,-97.8,43.2,-10.2,66,577,0.00,2.42,0.00,0.000,6,0.000,0.033,2526,2111,3605
$GC,765,-1.68,-97.8,62.4,-10.2,82,770,0.00,2.47,0.00,0.000,4,0.000,0.054,2526,3490,3606
$GC,805,-1.68,-97.8,66.4,-10.7,85,809,0.00,2.40,0.00,0.000,6,0.000,0.034,2527,2097,3605
$GC,1007,-1.68,-97.8,87.7,-10.5,101,1011,0.00,2.53,0.00,0.000,4,0.000,0.054,2527,3493,3605
$GC,1038,-1.68,-97.8,91.1,-10.7,103,1046,0.00,2.45,0.00,0.000,6,0.000,0.034,2527,2098,3606
$GC,1235,-1.68,-97.8,110.8,-9.8,119,1239,0.00,2.50,0.00,0.000,4,0.000,0.054,2527,3488,3605
$GC,1280,-1.68,-97.8,115.6,-10.4,122,1284,0.00,2.40,0.00,0.000,6,0.000,0.035,2527,2095,3605
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1334,-0.38,0.0,120.5,9.8,126,1416,1.45,0.00,77.70,0.685,6,0.104,0.000,2811,1990,3202
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,1.68,97.8,122.8,0.0,133,1504,2.15,2.70,75.85,0.663,4,0.063,0.067,3268,613,2801
$GC,1552,1.71,120.1,117.1,7.5,144,1577,0.00,2.45,16.85,0.676,6,0.000,0.035,3269,2001,2711
$GC,1765,1.72,126.4,99.2,8.5,161,1778,0.00,2.58,4.38,0.735,4,0.000,0.055,3268,3389,2686
$GC,1845,1.72,126.4,92.1,9.4,167,1849,0.00,2.42,0.00,0.000,6,0.000,0.035,3269,2003,2685
$GC,2040,1.72,127.2,75.0,8.8,182,2044,0.00,2.53,0.00,0.000,4,0.000,0.053,3268,3398,2685
$GC,2184,1.73,133.8,61.8,8.5,192,2195,0.00,2.47,5.60,0.717,6,0.000,0.036,3269,2000,2655
$GC,2393,1.73,133.8,43.0,9.1,209,2397,0.00,2.53,0.00,0.000,4,0.000,0.053,3269,3396,2655
$GC,2464,1.73,133.8,36.2,9.1,214,2471,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2006,2655
$GC,2661,1.73,138.7,18.6,8.6,231,2674,0.00,2.58,3.38,0.745,4,0.000,0.053,3268,3393,2636
$GC,2799,1.76,162.7,7.7,7.4,252,2824,0.00,2.42,18.30,0.655,6,0.000,0.036,3269,2000,2538
$GC,2889,1.92,291.4,3.6,1.0,266,2957,0.22,2.60,61.88,0.614,4,0.049,0.052,3322,3393,2013
$STATE,2963,end climb,SURFACE_DEPTH_REACHED
$STATE,2963,begin surface coast
$FINISH,0.4,1.021334
$STATE,2997,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3026,71.57,0.588,0,0,1367,450.13
$SM_GC,1.39,0.00,0.00,71.57,0.000,0.000,0.588,412,2091,1367,-11.44,-0.25,450.13
$IRIDIUM_FIX,4722.92,-12251.79,240907,101047
$TT8_MAMPS,0.073632
$HUMID,2256
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,8.8
$ALTIM_BOTTOM_PING,95.7,999.0
$24V_AH,23.8,21.023
$10V_AH,10.1,13.215
$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,30.400,59.675,263.925,71.575,0.000,101.666,68.921,350.291,1.000,16.600,3982.400,32.636,520.357,1723.018,458.807,540.870,673.779,33.338,788.313,0.000,499.365,0.000,4.103
$DEVICE_MAMPS,193.284,67.496,744.757,588.289,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.964,0.000,0.000,0.000,0.000,0.000,0.000,3999.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9568,283
$CFSIZE,260231168,255692800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,075411,4738.611,-12252.854,10,4.2,29,18.3