version: 66.02
glider: 117
mission: 4
dive: 70
start: 9 24 107 22 5 51
data:
$ID,117
$MISSION,4
$DIVE,70
$D_SURF,5
$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,-18102.686
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,45
$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
$GPS1,215614,4738.560,-12253.277,8,1.3,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.5
$GPS2,220444,4738.578,-12253.128,11,1.5,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H7
$TGT_LATLONG,4739.000,-12252.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.198
$KALMAN_X,19124.3,370.5,18.5,-20054.8,93.5
$KALMAN_Y,10575.9,219.2,-87.2,-12952.8,-95.6
$MHEAD_RNG_PITCHd_Wd,359.6,914,-20.3,-8.889
$D_GRID,138
$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,26,-1.68,-97.8,0.0,0.0,0,71,0.00,0.00,-43.22,0.000,2,0.000,0.000,412,2121,2343
$GC,74,-1.68,-97.8,2.2,-3.7,7,148,13.12,2.72,-55.10,0.000,4,0.193,0.074,2525,697,3601
$GC,339,-1.68,-97.8,22.3,-12.5,47,347,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2090,3603
$GC,536,-1.68,-97.8,41.2,-9.6,63,540,0.00,2.53,0.00,0.000,4,0.000,0.056,2525,3497,3603
$GC,602,-1.68,-97.8,48.5,-10.7,68,606,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2094,3604
$GC,804,-1.68,-97.8,68.2,-9.3,84,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2095,3604
$GC,996,-1.68,-97.8,86.7,-10.1,99,1000,0.00,2.55,0.00,0.000,4,0.000,0.054,2525,3495,3604
$GC,1059,-1.68,-97.8,93.7,-10.2,103,1067,0.00,2.45,0.00,0.000,6,0.000,0.035,2525,2100,3604
$GC,1256,-1.68,-97.8,113.3,-9.4,119,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2099,3604
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1335,-0.38,0.0,120.4,9.2,125,1417,1.48,0.00,77.80,0.676,6,0.107,0.000,2811,1998,3202
$STATE,1418,end apogee,CONTROL_FINISHED_OK
$STATE,1418,begin climb
$GC,1421,1.68,97.8,122.8,0.0,132,1506,2.15,2.70,75.85,0.656,4,0.064,0.067,3268,605,2802
$GC,1606,1.69,106.5,113.0,8.4,147,1619,0.00,2.47,6.50,0.716,6,0.000,0.036,3268,2005,2767
$GC,1808,1.70,106.8,95.4,8.9,163,1812,0.00,2.53,0.00,0.000,4,0.000,0.056,3268,3398,2766
$GC,1858,1.70,106.8,90.7,9.3,166,1866,0.00,2.47,0.00,0.000,6,0.000,0.036,3269,2005,2766
$GC,2055,1.71,121.3,74.5,8.0,182,2071,0.00,2.58,10.95,0.690,4,0.000,0.054,3268,3388,2707
$GC,2146,1.73,132.5,67.0,8.2,189,2159,0.00,2.45,8.55,0.696,6,0.000,0.036,3269,1993,2661
$GC,2347,1.73,132.5,49.0,9.4,205,2351,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3395,2660
$GC,2432,1.73,132.5,41.2,9.4,211,2439,0.00,2.47,0.00,0.000,6,0.000,0.036,3269,2007,2660
$GC,2628,1.73,138.5,23.8,8.5,227,2641,0.00,2.55,4.30,0.725,4,0.000,0.053,3269,3391,2637
$GC,2773,1.79,186.2,12.9,6.0,245,2816,0.00,2.45,36.60,0.627,6,0.000,0.037,3269,1994,2443
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,2.1,1.021058
$STATE,2954,end surface coast,CONTROL_FINISHED_OK
$STATE,2954,begin surface
$SM_CCo,2980,118.93,0.580,0,0,1367,450.13
$SM_GC,1.31,0.00,0.00,118.93,0.000,0.000,0.580,410,2111,1367,-11.45,0.31,450.13
$IRIDIUM_FIX,4719.74,-12254.47,250907,010134
$TT8_MAMPS,0.072098
$HUMID,2237
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.7
$ALTIM_BOTTOM_PING,95.7,999.0
$24V_AH,23.5,22.406
$10V_AH,10.0,14.353
$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,30.400,40.675,220.550,118.925,0.000,55.921,46.180,219.320,0.750,66.400,3688.600,16.893,506.910,1714.644,447.475,511.920,457.698,33.338,751.355,0.000,486.242,0.000,4.102
$DEVICE_MAMPS,193.284,73.632,724.815,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.560,0.000,0.000,0.000,0.000,0.000,0.000,3755.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,273
$CFSIZE,260231168,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240907,225835,4738.856,-12252.904,11,2.1,30,18.3