version: 66.02
glider: 117
mission: 4
dive: 251
start: 10 2 107 11 57 4
data:
$ID,117
$MISSION,4
$DIVE,251
$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,500
$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,-22516.15
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,114751,4739.493,-12252.288,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.2
$GPS2,115557,4739.567,-12252.187,15,1.9,15,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,-0.116
$KALMAN_X,34978.8,361.1,222.9,-34927.0,171.2
$KALMAN_Y,19368.0,345.0,217.1,-20342.0,128.7
$MHEAD_RNG_PITCHd_Wd,216.2,326,-21.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.75,-89.4,0.0,0.0,0,107,0.00,0.00,-77.22,0.000,2,0.000,0.000,408,2216,2781
$GC,110,-1.76,-97.8,2.2,-4.6,13,153,13.25,0.00,-27.12,0.000,6,0.198,0.000,2511,2217,3602
$GC,219,-1.76,-97.8,10.4,-8.2,30,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2217,3605
$GC,291,-1.76,-97.8,17.9,-12.4,41,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2217,3605
$GC,360,-1.76,-97.8,25.6,-11.0,48,365,0.00,2.65,0.00,0.000,4,0.000,0.064,2511,798,3606
$GC,393,-1.76,-97.8,29.3,-11.6,50,397,0.00,2.45,0.00,0.000,6,0.000,0.035,2511,2198,3606
$GC,588,-1.76,-97.8,50.6,-10.7,65,592,0.00,2.55,0.00,0.000,4,0.000,0.059,2511,3604,3606
$GC,621,-1.76,-97.8,54.2,-11.6,67,625,0.00,2.45,0.00,0.000,6,0.000,0.035,2511,2190,3606
$GC,816,-1.76,-97.8,75.9,-11.4,82,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2190,3606
$GC,1007,-1.76,-97.8,96.7,-10.5,97,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2190,3606
$GC,1196,-1.76,-97.8,116.3,-10.1,112,1200,0.00,2.55,0.00,0.000,4,0.000,0.057,2511,3598,3606
$STATE,1232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1240,-0.38,0.0,120.7,11.0,114,1322,1.55,0.00,77.35,0.700,6,0.111,0.000,2812,2084,3202
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1325,1.76,97.8,123.7,0.0,121,1410,2.17,0.00,75.55,0.686,6,0.064,0.000,3283,2084,2803
$GC,1599,1.77,106.2,107.0,8.3,143,1611,0.00,0.00,6.25,0.739,6,0.000,0.000,3283,2084,2769
$GC,1801,1.79,122.6,91.1,7.8,159,1818,0.00,2.55,12.40,0.709,4,0.000,0.054,3283,3476,2701
$GC,1904,1.79,122.6,82.2,9.4,166,1911,0.00,2.45,0.00,0.000,6,0.000,0.036,3283,2070,2701
$GC,2099,1.79,122.6,64.7,8.9,182,2104,0.00,2.55,0.00,0.000,4,0.000,0.054,3283,3482,2701
$GC,2217,1.79,122.6,54.0,9.7,190,2224,0.00,2.47,0.00,0.000,6,0.000,0.035,3283,2078,2701
$GC,2413,1.79,122.6,36.4,9.1,206,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2078,2701
$GC,2604,1.80,135.5,19.9,8.0,221,2623,0.00,2.60,9.52,0.696,4,0.000,0.054,3283,3474,2649
$GC,2702,1.81,141.8,11.3,8.5,236,2715,0.00,2.45,4.90,0.721,6,0.000,0.036,3283,2072,2622
$STATE,2780,end climb,SURFACE_DEPTH_REACHED
$STATE,2780,begin surface coast
$FINISH,0.3,1.022795
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2893,164.52,0.593,0,0,1163,500.17
$SM_GC,0.77,0.00,0.00,164.52,0.000,0.000,0.593,405,2210,1163,-11.47,0.31,500.17
$IRIDIUM_FIX,4722.92,-12253.53,021007,141440
$TT8_MAMPS,0.072098
$HUMID,2171
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.5,999.0
$24V_AH,23.7,38.487
$10V_AH,10.1,23.968
$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,30.025,30.575,185.975,164.525,0.000,64.194,48.082,174.995,0.250,16.600,3644.400,15.040,485.402,1694.102,468.766,477.657,445.314,33.344,753.698,0.000,448.739,0.000,2.489
$DEVICE_MAMPS,197.886,64.428,739.388,592.891,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,185.191,0.000,0.000,0.000,0.000,0.000,0.000,3661.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6438,261
$CFSIZE,260231168,249937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,124908,4739.337,-12252.537,31,1.7,31,18.3