version: 66.02
glider: 117
mission: 4
dive: 330
start: 10 6 107 0 51 51
data:
$ID,117
$MISSION,4
$DIVE,330
$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,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,-24615.752
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$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
$GPS1,003129,4744.508,-12250.263,15,2.9,34,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-58.0
$GPS2,005047,4744.551,-12250.266,18,2.3,37,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,0.163
$KALMAN_X,37932.7,-3.6,-12.2,-34889.2,-26.2
$KALMAN_Y,20830.4,257.0,54.2,-12326.3,60.5
$MHEAD_RNG_PITCHd_Wd,17.6,1139,-18.4,-7.917
$D_GRID,174
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.54,-97.8,0.0,0.0,0,141,0.00,0.00,-106.65,0.000,2,0.000,0.000,411,2216,2924
$GC,145,-1.54,-97.8,2.0,-4.3,18,188,13.55,2.53,-21.20,0.000,4,0.198,0.070,2561,3583,3603
$GC,439,-1.54,-97.8,29.3,-9.0,55,446,0.00,2.42,0.00,0.000,6,0.000,0.035,2561,2201,3605
$GC,635,-1.54,-97.8,46.5,-8.6,71,639,0.00,2.53,0.00,0.000,4,0.000,0.056,2561,3592,3605
$GC,832,-1.54,-97.8,64.8,-9.2,85,839,0.00,2.42,0.00,0.000,6,0.000,0.035,2561,2205,3605
$GC,1029,-1.54,-97.8,81.8,-8.6,101,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2205,3605
$STATE,1178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1178,begin apogee
$GC,1185,-0.38,0.0,95.1,8.8,113,1265,1.25,0.00,76.10,0.670,6,0.105,0.000,2808,2133,3202
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1269,1.54,97.8,97.8,0.0,120,1349,2.00,0.00,75.85,0.655,6,0.063,0.000,3233,2133,2803
$GC,1539,1.57,126.2,84.6,6.4,142,1567,0.00,2.62,21.67,0.666,4,0.000,0.055,3233,3529,2687
$GC,1634,1.57,126.2,77.2,8.5,149,1641,0.00,2.40,0.00,0.000,6,0.000,0.035,3233,2158,2687
$GC,1831,1.57,126.2,61.4,8.1,165,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2158,2687
$GC,2022,1.57,126.2,46.5,8.0,180,2026,0.00,2.50,0.00,0.000,4,0.000,0.057,3233,3538,2687
$GC,2126,1.57,126.2,37.4,8.4,187,2134,0.00,2.45,0.00,0.000,6,0.000,0.036,3233,2149,2688
$GC,2323,1.58,134.6,22.8,7.5,203,2335,0.00,0.00,5.95,0.709,6,0.000,0.000,3233,2149,2653
$GC,2533,1.63,176.2,7.6,5.7,232,2571,0.10,2.62,32.05,0.630,4,0.061,0.057,3261,3541,2483
$STATE,2582,end climb,SURFACE_DEPTH_REACHED
$STATE,2582,begin surface coast
$FINISH,-0.2,1.022359
$STATE,2688,end surface coast,CONTROL_FINISHED_OK
$STATE,2688,begin surface
$SM_CCo,2720,207.98,0.572,0,0,746,602.46
$SM_GC,0.50,0.00,0.00,207.98,0.000,0.000,0.572,413,2189,746,-11.44,-0.31,602.46
$IRIDIUM_FIX,4729.30,-12249.89,061007,040407
$TT8_MAMPS,0.072865
$HUMID,2141
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.5,46.534
$10V_AH,10.1,30.566
$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,29.950,24.925,211.625,207.975,0.000,176.436,298.616,264.889,0.500,0.000,4208.000,38.359,450.820,1695.824,546.029,490.229,926.688,33.337,820.883,0.000,446.510,0.000,2.489
$DEVICE_MAMPS,197.886,84.370,708.708,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,180.913,0.000,0.000,0.000,0.000,0.000,0.000,4208.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6454,256
$CFSIZE,260231168,247226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,014147,4744.719,-12250.100,11,3.0,30,18.3