version: 66.02
glider: 116
mission: 4
dive: 73
start: 9 23 107 12 29 25
data:
$ID,116
$MISSION,4
$DIVE,73
$D_SURF,2
$D_FLARE,2
$D_TGT,80
$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,35
$T_MISSION,70
$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,51361
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,400
$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,-26615.676
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3893
$C_VBD,3281
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.025896728
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$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,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,122126,4738.693,-12252.545,13,1.5,18,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-61.2
$GPS2,122814,4738.722,-12252.481,15,1.2,32,18.3
$SPEED_LIMITS,0.132,0.198
$TGT_NAME,H6
$TGT_LATLONG,4738.532,-12252.401
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.041,-0.139
$KALMAN_X,13075.0,264.2,-108.9,-12587.0,186.0
$KALMAN_Y,3842.0,236.9,-176.7,-5148.6,-57.3
$MHEAD_RNG_PITCHd_Wd,178.0,366,-24.4,-7.619
$D_GRID,133
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-2.10,-50.2,0.0,0.0,0,141,0.00,0.00,-108.28,0.000,2,0.000,0.000,133,2049,3127
$GC,144,-2.13,-76.4,2.4,-4.9,18,175,15.20,0.00,-12.35,0.000,6,0.214,0.000,2427,2048,3594
$GC,241,-2.15,-93.5,8.9,-5.9,33,248,0.00,2.58,-1.40,0.000,4,0.000,0.073,2427,653,3664
$GC,262,-2.16,-97.8,10.5,-6.4,36,269,0.00,2.47,-0.32,0.000,6,0.000,0.038,2427,2065,3682
$GC,337,-2.16,-97.8,15.2,-6.5,47,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2065,3682
$GC,416,-2.16,-97.8,21.2,-7.5,58,420,0.00,2.62,0.00,0.000,4,0.000,0.059,2427,647,3683
$GC,514,-2.16,-97.8,29.0,-8.1,65,519,0.00,2.47,0.00,0.000,6,0.000,0.037,2427,2058,3683
$GC,710,-2.16,-97.8,43.9,-7.9,80,714,0.00,2.60,0.00,0.000,4,0.000,0.060,2427,650,3684
$GC,801,-2.16,-97.8,51.5,-8.6,86,808,0.00,2.47,0.00,0.000,6,0.000,0.038,2427,2044,3685
$GC,997,-2.16,-97.8,68.3,-8.7,102,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2044,3685
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1154,-0.42,0.0,80.9,8.5,114,1304,1.95,0.00,131.15,0.616,6,0.123,0.000,2799,2494,3282
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1310,2.16,97.8,83.2,0.0,127,1438,2.58,2.72,115.15,0.600,4,0.061,0.076,3366,3884,2882
$GC,1604,2.16,97.8,42.7,16.5,150,1608,0.00,2.47,0.00,0.000,6,0.000,0.040,3366,2490,2884
$GC,1801,2.16,97.8,13.3,14.1,168,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2488,2884
$GC,1873,2.16,97.8,3.9,12.8,179,1879,0.00,2.65,0.00,0.000,4,0.000,0.070,3366,3891,2884
$GC,2131,2.24,168.1,3.8,0.4,218,2144,0.00,2.45,8.52,0.638,2,0.000,0.038,3366,2499,2839
$STATE,2145,end climb,NO_VERTICAL_VELOCITY
$STATE,2145,begin surface
$SM_CCo,2154,288.08,0.547,3,0,583,662.06
$SM_GC,0.91,14.52,0.00,0.00,0.044,0.000,0.000,133,2040,584,-12.67,-0.28,661.57
$IRIDIUM_FIX,4719.74,-12254.47,230907,151542
$TT8_MAMPS,0.066729
$HUMID,2081
$INTERNAL_PRESSURE,10.8598
$TCM_TEMP,19.90
$XPDR_PINGS,71
$ALTIM_TOP_PING,9.9,999.0
$24V_AH,23.4,12.718
$10V_AH,10.1,7.066
$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,34.250,27.175,254.825,288.075,0.000,40.236,33.147,149.593,18.000,52.180,3054.820,32.577,395.532,1078.045,681.246,429.383,426.540,33.354,949.025,0.000,395.829,0.000,4.416
$DEVICE_MAMPS,213.993,75.933,638.144,546.871,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,143.512,0.000,0.000,0.000,0.000,0.000,0.000,3107.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6468,220
$CFSIZE,260034560,254840832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,230907,131323,4738.672,-12252.279,10,2.4,29,18.3