version: 66.02
glider: 117
mission: 4
dive: 109
start: 9 26 107 14 34 4
data:
$ID,117
$MISSION,4
$DIVE,109
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19065.348
$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,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,36
$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,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
$GPS1,142601,4739.489,-12252.749,32,1.0,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.4
$GPS2,143257,4739.501,-12252.748,12,1.1,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,-0.070
$KALMAN_X,22248.2,-1.8,-104.6,-22206.6,129.0
$KALMAN_Y,10864.6,8.2,-90.6,-11315.7,143.3
$MHEAD_RNG_PITCHd_Wd,232.2,570,-20.3,-8.889
$D_GRID,122
$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,-97.8,0.0,0.0,0,69,0.00,0.00,-43.05,0.000,2,0.000,0.000,413,2185,2326
$GC,72,-1.68,-97.8,2.1,-2.8,7,145,13.48,2.58,-51.75,0.000,4,0.203,0.073,2526,804,3602
$GC,397,-1.68,-97.8,31.5,-10.0,49,402,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2200,3605
$GC,600,-1.68,-97.8,51.4,-9.7,65,604,0.00,2.58,0.00,0.000,4,0.000,0.062,2526,806,3605
$GC,644,-1.68,-97.8,56.2,-10.6,68,652,0.00,2.45,0.00,0.000,6,0.000,0.036,2526,2194,3605
$GC,841,-1.68,-97.8,75.7,-10.2,84,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$GC,1031,-1.68,-97.8,94.3,-9.5,99,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$GC,1219,-1.68,-97.8,112.9,-9.4,114,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2194,3605
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1311,-0.38,0.0,120.9,8.6,121,1393,1.48,0.00,77.60,0.682,6,0.107,0.000,2812,2078,3202
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1396,1.68,97.8,123.0,0.0,128,1478,2.12,0.00,76.05,0.662,6,0.061,0.000,3266,2078,2804
$GC,1666,1.70,109.7,106.3,8.2,150,1682,0.00,2.62,9.02,0.705,4,0.000,0.056,3265,3477,2754
$GC,1815,1.71,115.2,93.2,8.6,161,1824,0.00,2.42,3.88,0.737,6,0.000,0.035,3266,2094,2734
$GC,2012,1.72,125.5,77.4,8.3,177,2025,0.00,2.60,7.75,0.708,4,0.000,0.054,3266,3483,2690
$GC,2077,1.72,127.7,71.9,8.8,182,2082,0.00,2.45,0.00,0.000,6,0.000,0.036,3265,2076,2689
$GC,2273,1.72,127.7,54.7,8.9,197,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2076,2688
$GC,2463,1.72,128.2,37.8,8.9,212,2467,0.00,0.00,1.80,0.797,6,0.000,0.000,3266,2076,2680
$GC,2651,1.75,149.1,21.6,7.6,227,2676,0.00,2.60,15.98,0.659,4,0.000,0.054,3265,3471,2594
$GC,2702,1.76,157.5,17.7,8.4,233,2715,0.00,2.42,6.35,0.685,6,0.000,0.035,3265,2079,2559
$GC,2782,1.76,158.8,10.8,8.8,245,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2079,2558
$GC,2854,1.84,225.5,5.9,4.8,256,2880,0.15,0.00,23.05,0.635,2,0.053,0.000,3303,2079,2436
$STATE,2881,end climb,SURFACE_DEPTH_REACHED
$STATE,2881,begin surface coast
$FINISH,1.5,1.021673
$STATE,3005,end surface coast,CONTROL_FINISHED_OK
$STATE,3005,begin surface
$SM_CCo,3032,117.82,0.580,0,0,1367,450.13
$SM_GC,1.45,0.00,0.00,117.82,0.000,0.000,0.580,413,2218,1367,-11.44,0.51,450.13
$IRIDIUM_FIX,4722.92,-12251.79,260907,171730
$TT8_MAMPS,0.072098
$HUMID,2228
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.7,26.617
$10V_AH,10.1,17.419
$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,31.025,25.525,221.475,117.825,0.000,61.746,42.776,141.175,0.250,33.200,3687.800,14.092,511.355,1783.631,440.639,490.779,368.621,33.349,729.209,0.000,470.049,0.000,2.492
$DEVICE_MAMPS,203.255,72.865,796.913,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.331,0.000,0.000,0.000,0.000,0.000,0.000,3721.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6459,279
$CFSIZE,260231168,253943808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,152721,4739.412,-12253.022,12,1.3,12,18.3