version: 66.02
glider: 117
mission: 4
dive: 23
start: 9 22 107 19 40 27
data:
$ID,117
$MISSION,4
$DIVE,23
$D_SURF,2
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16939.357
$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,2100
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,10
$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
$GPS1,193005,4738.991,-12251.934,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.7
$GPS2,193920,4738.997,-12251.857,14,1.2,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.166
$KALMAN_X,6695.0,569.5,13.7,-6235.0,15.0
$KALMAN_Y,4683.3,353.2,-18.0,-6485.1,-27.7
$MHEAD_RNG_PITCHd_Wd,304.4,1103,-20.3,-8.889
$D_GRID,127
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.68,-97.8,0.0,0.0,0,87,0.00,0.00,-61.20,0.000,2,0.000,0.000,411,2116,2691
$GC,90,-1.68,-97.8,2.2,-4.4,10,145,13.62,2.78,-33.00,0.000,4,0.196,0.073,2528,692,3601
$GC,264,-1.68,-97.8,15.6,-9.7,37,271,0.00,2.50,0.00,0.000,6,0.000,0.035,2528,2100,3603
$GC,341,-1.68,-97.8,22.6,-9.5,47,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2099,3603
$GC,532,-1.68,-97.8,41.1,-9.8,62,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2099,3604
$GC,723,-1.68,-97.8,60.8,-10.3,77,727,0.00,2.55,0.00,0.000,4,0.000,0.055,2528,3502,3604
$GC,773,-1.68,-97.8,66.6,-10.8,80,781,0.00,2.53,0.00,0.000,6,0.000,0.035,2528,2102,3604
$GC,970,-1.68,-97.8,85.5,-9.1,96,974,0.00,2.55,0.00,0.000,4,0.000,0.054,2528,3499,3604
$GC,1001,-1.68,-97.8,88.7,-10.6,98,1009,0.00,2.47,0.00,0.000,6,0.000,0.035,2530,2104,3604
$GC,1197,-1.68,-97.8,107.3,-9.6,114,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2104,3604
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1327,-0.38,0.0,120.3,10.7,124,1409,1.48,0.00,77.95,0.675,6,0.108,0.000,2811,1916,3202
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1412,1.68,97.8,123.1,0.0,131,1497,2.15,0.00,76.43,0.654,6,0.064,0.000,3271,1915,2802
$GC,1686,1.75,148.8,109.9,5.8,153,1735,0.00,2.80,39.10,0.657,4,0.000,0.073,3271,505,2594
$GC,1803,1.75,148.8,100.4,9.6,162,1808,0.00,2.50,0.00,0.000,6,0.000,0.037,3271,1908,2593
$GC,1998,1.75,148.8,82.1,9.4,177,2002,0.00,2.55,0.00,0.000,4,0.000,0.052,3272,3305,2592
$GC,2161,1.75,148.8,65.6,9.8,189,2169,0.00,2.50,0.00,0.000,6,0.000,0.036,3272,1913,2592
$GC,2358,1.75,148.8,46.2,9.9,205,2362,0.00,2.55,0.00,0.000,4,0.000,0.051,3272,3313,2592
$GC,2456,1.75,148.8,36.1,10.3,212,2463,0.00,2.60,0.00,0.000,6,0.000,0.037,3272,1913,2592
$GC,2654,1.75,151.3,17.1,8.7,230,2660,0.00,2.60,0.00,0.000,4,0.000,0.051,3271,3304,2592
$GC,2852,1.85,232.8,3.1,3.9,260,2891,0.15,2.50,32.28,0.614,2,0.059,0.036,3305,1906,2329
$STATE,2892,end climb,SURFACE_DEPTH_REACHED
$STATE,2892,begin surface coast
$FINISH,0.2,1.021292
$STATE,2976,end surface coast,CONTROL_FINISHED_OK
$STATE,2976,begin surface
$SM_CCo,3003,105.57,0.579,0,0,1367,450.13
$SM_GC,0.99,0.00,0.00,105.57,0.000,0.000,0.579,413,2112,1367,-11.44,0.34,450.13
$IRIDIUM_FIX,4719.74,-12251.79,220907,222211
$TT8_MAMPS,0.071331
$HUMID,2316
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,20.30
$XPDR_PINGS,59
$ALTIM_TOP_PING,9.9,9.4
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.0,17.326
$10V_AH,10.1,10.533
$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,30.850,36.625,225.750,105.575,0.000,61.005,44.309,243.424,15.250,430.861,3372.139,31.854,508.527,1732.624,441.244,527.026,483.661,33.328,742.958,0.000,483.264,0.000,5.352
$DEVICE_MAMPS,196.352,72.865,674.960,579.085,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,196.567,0.000,0.000,0.000,0.000,0.000,0.000,3803.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,9584,279
$CFSIZE,260231168,256794624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220907,203303,4739.207,-12252.141,13,1.2,13,18.3