version: 66.02
glider: 117
mission: 4
dive: 310
start: 10 5 107 3 40 48
data:
$ID,117
$MISSION,4
$DIVE,310
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,90
$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,15
$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,-24085.119
$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,25
$R_STBD_OVSHOOT,40
$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
$GPS1,032027,4744.685,-12250.294,14,1.5,15,18.3
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-60.1
$GPS2,033926,4744.580,-12250.358,15,1.7,33,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,0.238
$KALMAN_X,38894.6,-53.8,-50.0,-35872.7,-107.6
$KALMAN_Y,21467.1,-290.5,-279.6,-12019.4,-104.7
$MHEAD_RNG_PITCHd_Wd,6.7,74,-10.9,-7.037
$D_GRID,166
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.96,-97.8,0.0,0.0,0,109,0.00,0.00,-78.35,0.000,2,0.000,0.000,408,2211,2973
$GC,113,-0.96,-97.8,2.1,-4.0,13,156,14.25,2.55,-19.67,0.000,4,0.196,0.070,2684,3587,3603
$GC,185,-0.96,-97.8,6.7,-6.8,24,191,0.00,2.42,0.00,0.000,6,0.000,0.035,2684,2189,3604
$GC,258,-0.96,-97.8,11.8,-6.9,35,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2189,3604
$GC,330,-0.96,-97.8,16.3,-5.7,46,336,0.00,2.58,0.00,0.000,4,0.000,0.063,2684,800,3604
$GC,383,-0.96,-97.8,19.1,-5.5,54,389,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2203,3604
$GC,453,-0.96,-97.8,22.8,-5.1,61,458,0.00,2.53,0.00,0.000,4,0.000,0.058,2684,3598,3604
$GC,500,-0.96,-97.8,25.3,-6.0,64,504,0.00,2.42,0.00,0.000,6,0.000,0.035,2685,2194,3604
$GC,695,-0.96,-97.8,35.7,-5.2,79,700,0.00,2.58,0.00,0.000,4,0.000,0.062,2684,799,3604
$GC,748,-0.96,-97.8,38.5,-5.6,82,755,0.00,2.45,0.00,0.000,6,0.000,0.035,2684,2208,3604
$GC,946,-0.96,-97.8,48.9,-5.4,98,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2208,3604
$GC,1136,-0.96,-97.8,58.6,-5.2,113,1140,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,804,3604
$GC,1189,-0.96,-97.8,61.5,-5.9,116,1195,0.00,2.42,0.00,0.000,6,0.000,0.035,2684,2199,3605
$GC,1385,-0.96,-97.8,71.3,-4.8,132,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2199,3604
$GC,1578,-0.96,-97.8,80.8,-5.2,147,1582,0.00,2.58,0.00,0.000,4,0.000,0.062,2685,805,3604
$GC,1611,-0.96,-97.8,82.8,-5.6,149,1615,0.00,2.42,0.00,0.000,6,0.000,0.035,2684,2202,3604
$GC,1807,-0.96,-97.8,92.2,-4.5,164,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,3604
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1867,begin apogee
$GC,1874,-0.38,0.0,95.1,4.6,169,1954,0.62,0.00,77.32,0.676,6,0.078,0.000,2813,2060,3202
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1958,0.96,97.8,97.3,0.0,176,2042,1.38,2.65,75.78,0.652,4,0.061,0.054,3107,3472,2802
$GC,2070,1.12,232.2,95.2,3.8,185,2182,0.17,2.45,103.60,0.635,6,0.042,0.035,3156,2090,2255
$GC,2370,1.12,232.2,72.1,8.6,209,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2090,2253
$GC,2560,1.12,232.2,56.4,8.1,224,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2090,2252
$GC,2749,1.12,232.2,41.7,7.8,239,2753,0.00,2.53,0.00,0.000,4,0.000,0.055,3156,3478,2252
$GC,2795,1.12,232.2,37.8,8.6,242,2800,0.00,2.45,0.00,0.000,6,0.000,0.036,3156,2076,2252
$GC,2991,1.12,232.2,22.7,7.7,257,2995,0.00,2.53,0.00,0.000,4,0.000,0.054,3156,3473,2252
$GC,3030,1.12,232.2,19.5,8.6,259,3037,0.00,2.42,0.00,0.000,6,0.000,0.036,3156,2078,2252
$GC,3236,1.19,290.4,5.4,5.6,290,3243,0.00,0.00,5.12,0.703,2,0.000,0.000,3156,2078,2224
$STATE,3243,end climb,SURFACE_DEPTH_REACHED
$STATE,3243,begin surface coast
$FINISH,-0.1,1.022638
$STATE,3349,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3376,180.45,0.574,0,0,746,602.46
$SM_GC,0.48,0.00,0.00,180.45,0.000,0.000,0.574,401,2210,746,-11.50,0.28,602.46
$IRIDIUM_FIX,4726.11,-12248.15,051007,070716
$TT8_MAMPS,0.071331
$HUMID,2179
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.0,999.0
$24V_AH,23.7,44.433
$10V_AH,10.1,28.932
$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,28.825,45.375,261.825,180.450,0.000,174.624,329.005,218.004,1.000,0.000,4728.000,33.919,589.143,2106.027,541.360,565.465,933.706,33.337,880.268,0.000,523.276,0.000,2.491
$DEVICE_MAMPS,195.585,69.797,703.339,573.716,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,217.336,0.000,0.000,0.000,0.000,0.000,0.000,4728.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,9621,307
$CFSIZE,260231168,247857152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,044108,4744.844,-12250.208,26,1.3,27,18.3