version: 66.02
glider: 117
mission: 4
dive: 86
start: 9 25 107 15 5 44
data:
$ID,117
$MISSION,4
$DIVE,86
$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,-18496.721
$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,38
$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,0
$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
$GPS1,145153,4738.741,-12253.031,13,2.5,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.1
$GPS2,150438,4738.757,-12252.932,38,1.6,38,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H8
$TGT_LATLONG,4739.000,-12252.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.206,0.034
$KALMAN_X,22198.5,44.7,-73.0,-22470.1,219.6
$KALMAN_Y,12748.1,73.4,-175.6,-14560.1,207.6
$MHEAD_RNG_PITCHd_Wd,62.2,1247,-20.3,-8.889
$D_GRID,135
$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,-97.8,0.0,0.0,0,81,0.00,0.00,-54.03,0.000,2,0.000,0.000,412,2098,2551
$GC,84,-1.68,-97.8,2.4,-3.5,9,146,13.25,2.65,-40.65,0.000,4,0.197,0.077,2525,697,3602
$GC,397,-1.68,-97.8,28.3,-9.8,51,401,0.00,2.45,0.00,0.000,6,0.000,0.036,2525,2096,3605
$GC,598,-1.68,-97.8,48.3,-10.4,67,602,0.00,2.53,0.00,0.000,4,0.000,0.056,2525,3499,3606
$GC,639,-1.68,-97.8,52.5,-10.9,70,644,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2095,3606
$GC,834,-1.68,-97.8,72.5,-10.0,85,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2095,3606
$GC,1024,-1.68,-97.8,91.8,-10.3,100,1029,0.00,2.53,0.00,0.000,4,0.000,0.055,2524,3495,3606
$GC,1096,-1.68,-97.8,99.4,-10.2,105,1100,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2100,3606
$GC,1298,-1.68,-97.8,119.2,-9.7,121,1302,0.00,2.55,0.00,0.000,4,0.000,0.055,2525,3499,3606
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1317,-0.38,0.0,120.4,9.6,122,1399,1.48,0.00,77.88,0.677,6,0.107,0.000,2812,2005,3202
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1402,1.68,97.8,122.7,0.0,129,1488,2.10,2.72,76.15,0.663,4,0.064,0.067,3268,595,2803
$GC,1514,1.72,130.5,118.2,6.9,138,1544,0.00,2.58,25.05,0.667,6,0.000,0.035,3268,2000,2669
$GC,1733,1.72,130.5,99.3,9.2,155,1737,0.00,2.55,0.00,0.000,4,0.000,0.056,3268,3399,2667
$GC,1845,1.72,130.5,88.5,9.5,163,1849,0.00,2.47,0.00,0.000,6,0.000,0.036,3268,1997,2666
$GC,2040,1.72,130.5,70.6,9.0,178,2044,0.00,2.55,0.00,0.000,4,0.000,0.053,3268,3395,2666
$GC,2164,1.72,130.5,58.6,9.7,187,2172,0.00,2.50,0.00,0.000,6,0.000,0.036,3268,2002,2666
$GC,2361,1.72,130.5,39.7,9.2,203,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2002,2666
$GC,2551,1.73,134.2,21.8,8.7,218,2563,0.00,2.67,2.15,0.775,4,0.000,0.053,3268,3393,2654
$GC,2701,1.75,149.6,8.6,8.0,239,2720,0.00,2.45,11.93,0.666,6,0.000,0.037,3268,1998,2591
$STATE,2764,end climb,SURFACE_DEPTH_REACHED
$STATE,2764,begin surface coast
$FINISH,2.5,1.021356
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2919,136.18,0.587,0,0,1367,450.13
$SM_GC,1.38,0.00,0.00,136.18,0.000,0.000,0.587,409,2110,1367,-11.46,0.28,450.13
$IRIDIUM_FIX,4722.92,-12251.79,250907,171741
$TT8_MAMPS,0.072098
$HUMID,2229
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.3,24.159
$10V_AH,10.1,15.648
$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,30.475,40.850,193.150,136.175,0.000,104.263,123.298,262.184,0.500,91.303,3859.697,38.530,502.106,1756.337,429.444,530.554,629.047,33.344,726.982,0.000,481.478,0.000,2.493
$DEVICE_MAMPS,197.119,76.700,774.670,586.755,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.027,0.000,0.000,0.000,0.000,0.000,0.000,3951.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6472,268
$CFSIZE,260231168,254726144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250907,155727,4738.909,-12252.291,14,1.7,14,18.3