version: 66.02
glider: 117
mission: 4
dive: 69
start: 9 24 107 21 11 16
data:
$ID,117
$MISSION,4
$DIVE,69
$D_SURF,5
$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,-18085.166
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,210102,4738.541,-12253.147,9,1.3,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.9
$GPS2,211009,4738.563,-12252.966,17,1.4,17,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H5
$TGT_LATLONG,4738.532,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,0.027
$KALMAN_X,18813.9,421.7,88.7,-19666.0,43.4
$KALMAN_Y,10477.4,278.2,8.4,-13034.9,-116.5
$MHEAD_RNG_PITCHd_Wd,261.9,300,-27.7,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.20,-53.0,0.0,0.0,0,70,0.00,0.00,-43.22,0.000,2,0.000,0.000,411,2091,2351
$GC,73,-2.25,-97.6,2.3,-3.9,7,141,12.52,2.60,-48.55,0.000,4,0.198,0.076,2402,705,3602
$GC,167,-2.25,-97.8,6.4,-8.8,22,173,0.00,2.45,0.00,0.000,6,0.000,0.036,2402,2102,3603
$GC,239,-2.25,-97.8,14.8,-14.5,33,245,0.00,2.50,0.00,0.000,4,0.000,0.054,2402,3495,3604
$GC,264,-2.25,-97.8,18.6,-14.4,37,271,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2102,3603
$GC,340,-2.25,-97.8,29.1,-13.8,44,343,0.00,2.50,0.00,0.000,4,0.000,0.052,2402,3495,3604
$GC,392,-2.25,-97.8,36.3,-13.8,48,396,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2100,3604
$GC,594,-2.25,-97.8,64.9,-14.3,64,598,0.00,2.53,0.00,0.000,4,0.000,0.054,2402,3503,3604
$GC,646,-2.25,-97.8,72.9,-15.4,68,650,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2101,3604
$GC,848,-2.25,-97.8,102.7,-14.5,84,852,0.00,2.53,0.00,0.000,4,0.000,0.054,2402,3503,3604
$GC,914,-2.25,-97.8,111.2,-12.5,89,918,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2101,3604
$STATE,988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,988,begin apogee
$GC,993,-0.38,0.0,121.3,13.6,95,1075,2.15,0.00,77.53,0.674,6,0.121,0.000,2810,1998,3202
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1078,2.25,97.8,124.2,0.0,102,1164,2.70,2.70,75.53,0.653,4,0.061,0.067,3395,598,2804
$GC,1203,2.25,97.8,117.2,10.4,112,1207,0.00,2.53,0.00,0.000,6,0.000,0.036,3396,1994,2801
$GC,1405,2.25,97.8,95.3,11.2,128,1409,0.00,2.55,0.00,0.000,4,0.000,0.056,3396,3398,2801
$GC,1602,2.25,97.8,75.3,9.8,142,1610,0.00,2.47,0.00,0.000,6,0.000,0.036,3395,2005,2800
$GC,1798,2.25,97.8,57.3,9.1,158,1802,0.00,2.55,0.00,0.000,4,0.000,0.053,3396,3401,2799
$GC,1937,2.25,97.8,44.7,8.9,168,1943,0.00,2.47,0.00,0.000,6,0.000,0.036,3396,1992,2799
$GC,2132,2.25,97.8,26.5,9.1,184,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1992,2800
$GC,2327,2.29,129.7,11.2,5.3,208,2353,0.00,0.00,23.77,0.640,6,0.000,0.000,3395,1991,2673
$STATE,2411,end climb,SURFACE_DEPTH_REACHED
$STATE,2411,begin surface coast
$FINISH,2.7,1.020604
$STATE,2471,end surface coast,CONTROL_FINISHED_OK
$STATE,2471,begin surface
$SM_CCo,2499,150.82,0.581,0,0,1366,450.13
$SM_GC,1.28,0.00,0.00,150.82,0.000,0.000,0.581,412,2120,1366,-11.44,0.57,450.13
$IRIDIUM_FIX,4722.92,-12247.38,250907,000022
$TT8_MAMPS,0.072098
$HUMID,2214
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.6,8.8
$ALTIM_BOTTOM_PING,95.4,999.0
$24V_AH,23.8,22.303
$10V_AH,10.1,14.275
$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,31.775,40.400,176.825,150.825,0.000,61.103,34.967,255.436,0.750,53.950,3273.050,17.616,444.052,1406.317,432.946,454.558,488.568,33.333,705.878,0.000,427.802,0.000,4.116
$DEVICE_MAMPS,197.886,75.933,674.193,581.386,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.056,0.000,0.000,0.000,0.000,0.000,0.000,3327.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6439,230
$CFSIZE,260231168,255283200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240907,215614,4738.560,-12253.277,8,1.3,13,18.3