version: 66.02
glider: 117
mission: 4
dive: 313
start: 10 5 107 7 12 53
data:
$ID,117
$MISSION,4
$DIVE,313
$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,40
$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,25
$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,-24181.715
$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,41
$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
$GPS1,070217,4744.500,-12250.406,11,2.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-57.1
$GPS2,071147,4744.462,-12250.418,14,7.4,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,0.168
$KALMAN_X,38752.7,-153.3,-56.8,-35700.2,4.8
$KALMAN_Y,20841.8,-385.6,-129.4,-11668.7,16.6
$MHEAD_RNG_PITCHd_Wd,350.6,291,-22.2,-7.917
$D_GRID,167
$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,27,-1.79,-68.1,0.0,0.0,0,140,0.00,0.00,-108.25,0.000,2,0.000,0.000,409,2213,2948
$GC,143,-1.83,-97.8,2.0,-4.6,18,186,13.15,2.70,-20.50,0.000,4,0.197,0.073,2495,795,3603
$GC,221,-1.83,-97.8,9.6,-13.3,30,228,0.00,2.45,0.00,0.000,6,0.000,0.035,2495,2191,3604
$GC,294,-1.83,-97.8,18.8,-10.8,41,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2190,3605
$GC,369,-1.83,-97.8,26.9,-10.7,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2191,3605
$GC,560,-1.83,-97.8,47.7,-11.4,63,565,0.00,2.55,0.00,0.000,4,0.000,0.058,2495,3601,3606
$GC,612,-1.83,-97.8,53.7,-11.2,66,619,0.00,2.42,0.00,0.000,6,0.000,0.035,2495,2197,3606
$GC,808,-1.83,-97.8,74.8,-10.7,82,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2197,3605
$GC,1000,-1.83,-97.8,94.8,-10.6,97,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2197,3605
$STATE,1007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1014,-0.38,0.0,96.2,10.7,98,1095,1.65,0.00,74.60,0.670,6,0.108,0.000,2815,2072,3202
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1099,1.83,97.8,98.9,0.0,105,1185,2.22,2.65,76.55,0.650,4,0.060,0.064,3305,688,2802
$GC,1217,1.84,109.2,94.1,7.0,114,1231,0.00,2.45,8.65,0.684,6,0.000,0.035,3305,2081,2756
$GC,1419,1.84,109.2,76.6,9.0,130,1423,0.00,2.53,0.00,0.000,4,0.000,0.058,3305,3475,2756
$GC,1505,1.84,109.2,68.8,8.6,136,1509,0.00,2.42,0.00,0.000,6,0.000,0.036,3304,2086,2756
$GC,1700,1.84,109.2,52.0,8.7,151,1704,0.00,2.53,0.00,0.000,4,0.000,0.055,3305,3475,2756
$GC,1778,1.84,109.2,44.8,9.4,156,1785,0.00,2.45,0.00,0.000,6,0.000,0.035,3305,2082,2755
$GC,1975,1.84,109.2,28.1,8.5,172,1979,0.00,2.53,0.00,0.000,4,0.000,0.055,3305,3476,2755
$GC,2060,1.84,109.2,20.6,8.8,178,2064,0.00,2.42,0.00,0.000,6,0.000,0.035,3305,2081,2755
$GC,2265,1.94,190.5,8.7,1.6,207,2332,0.00,2.62,61.85,0.616,4,0.000,0.054,3304,3479,2425
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,2.1,1.022545
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2415,116.95,0.575,0,0,1366,450.13
$SM_GC,0.60,0.00,0.00,116.95,0.000,0.000,0.575,408,2192,1366,-11.46,-0.20,450.13
$IRIDIUM_FIX,4726.11,-12250.84,051007,101048
$TT8_MAMPS,0.071331
$HUMID,2166
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.4,44.724
$10V_AH,10.1,29.181
$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,30.575,35.150,221.650,116.950,0.000,61.558,35.390,250.507,0.500,0.000,3318.000,33.878,406.308,1298.211,460.792,446.874,515.884,33.334,733.894,0.000,401.981,0.000,4.375
$DEVICE_MAMPS,197.119,72.865,684.164,575.250,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.709,0.000,0.000,0.000,0.000,0.000,0.000,3318.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6442,226
$CFSIZE,260231168,247787520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051007,075607,4744.647,-12250.351,9,1.1,25,18.3