version: 66.02
glider: 117
mission: 4
dive: 223
start: 10 1 107 6 46 36
data:
$ID,117
$MISSION,4
$DIVE,223
$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,602.45679
$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,-21830.414
$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,23
$R_STBD_OVSHOOT,31
$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,0
$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
$GPS1,063203,4739.537,-12252.324,8,1.4,8,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.1
$GPS2,064527,4739.642,-12252.221,16,1.2,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,-0.149
$KALMAN_X,31024.6,300.6,-28.9,-30704.7,263.7
$KALMAN_Y,15977.9,228.9,24.6,-16507.9,219.0
$MHEAD_RNG_PITCHd_Wd,205.9,395,-20.3,-8.889
$D_GRID,124
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.68,-97.8,0.0,0.0,0,127,0.00,0.00,-103.18,0.000,2,0.000,0.000,410,2193,2805
$GC,131,-1.68,-97.8,2.2,-4.4,17,180,13.25,0.00,-30.98,0.000,6,0.196,0.000,2522,2193,3602
$GC,246,-1.68,-97.8,8.5,-7.8,35,252,0.00,2.60,0.00,0.000,4,0.000,0.063,2522,798,3604
$GC,318,-1.68,-97.8,15.7,-11.3,46,324,0.00,2.45,0.00,0.000,6,0.000,0.035,2522,2201,3604
$GC,388,-1.68,-97.8,23.1,-10.0,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2201,3605
$GC,579,-1.68,-97.8,41.5,-9.6,70,583,0.00,2.53,0.00,0.000,4,0.000,0.059,2522,3597,3605
$GC,611,-1.68,-97.8,44.9,-10.2,72,616,0.00,2.42,0.00,0.000,6,0.000,0.035,2522,2195,3605
$GC,806,-1.68,-97.8,63.8,-9.6,87,811,0.00,2.58,0.00,0.000,4,0.000,0.064,2522,802,3605
$GC,831,-1.68,-97.8,66.4,-10.2,88,838,0.00,2.47,0.00,0.000,6,0.000,0.035,2522,2204,3605
$GC,1028,-1.68,-97.8,85.9,-10.2,104,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2204,3605
$GC,1217,-1.68,-97.8,104.9,-9.7,119,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2204,3605
$STATE,1393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1393,begin apogee
$GC,1399,-0.38,0.0,121.0,9.7,133,1479,1.48,0.00,75.82,0.690,6,0.108,0.000,2810,2066,3202
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1482,1.68,97.8,123.8,0.0,140,1565,2.15,0.00,77.60,0.670,6,0.063,0.000,3268,2066,2803
$GC,1752,1.69,104.2,106.6,8.5,162,1765,0.00,2.58,4.88,0.734,4,0.000,0.055,3267,3477,2777
$GC,1843,1.69,104.2,97.9,9.4,169,1848,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2084,2779
$GC,2039,1.70,108.4,80.8,8.6,184,2051,0.00,2.60,2.90,0.765,4,0.000,0.054,3268,3480,2760
$GC,2082,1.70,108.4,76.6,9.5,187,2090,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2088,2762
$GC,2279,1.70,113.0,59.0,8.6,203,2292,0.00,2.58,3.58,0.750,4,0.000,0.054,3268,3476,2741
$GC,2336,1.70,113.0,53.5,9.8,207,2344,0.00,2.45,0.00,0.000,6,0.000,0.035,3268,2088,2743
$GC,2533,1.72,124.0,36.6,8.2,223,2547,0.00,2.58,8.15,0.702,4,0.000,0.054,3268,3476,2696
$GC,2605,1.72,126.2,30.4,8.8,228,2613,0.00,2.45,1.55,0.788,6,0.000,0.035,3268,2087,2688
$GC,2804,1.76,155.7,15.6,7.1,248,2835,0.00,2.58,22.50,0.660,4,0.000,0.054,3268,3473,2568
$GC,2914,1.76,155.7,6.0,11.1,265,2920,0.00,2.42,0.00,0.000,6,0.000,0.036,3268,2082,2568
$STATE,2925,end climb,SURFACE_DEPTH_REACHED
$STATE,2925,begin surface coast
$FINISH,0.4,1.022714
$STATE,2971,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,2995,221.23,0.575,0,0,746,602.46
$SM_GC,1.00,0.00,0.00,221.23,0.000,0.000,0.575,405,2209,746,-11.47,0.23,602.46
$IRIDIUM_FIX,4722.92,-12256.21,011007,101047
$TT8_MAMPS,0.026845
$HUMID,2146
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.7,35.918
$10V_AH,10.2,22.096
$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,29.750,40.525,196.975,221.225,0.000,174.120,300.674,0.000,0.250,0.000,0.000,16.264,495.829,1913.806,577.343,466.966,600.026,33.352,871.788,0.000,457.398,0.000,2.491
$DEVICE_MAMPS,196.352,64.428,787.709,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6472,274
$CFSIZE,260231168,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,011007,074120,4739.550,-12252.289,15,1.4,32,18.3