version: 66.02
glider: 117
mission: 4
dive: 100
start: 9 26 107 5 58 52
data:
$ID,117
$MISSION,4
$DIVE,100
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18812.926
$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,36
$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
$GPS1,055050,4739.411,-12252.646,8,1.9,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.1
$GPS2,055745,4739.430,-12252.627,12,1.7,12,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,0.034
$KALMAN_X,22310.5,-33.6,139.4,-22328.9,65.4
$KALMAN_Y,11374.6,-189.8,90.6,-11940.4,19.6
$MHEAD_RNG_PITCHd_Wd,59.0,289,-27.7,-8.889
$D_GRID,124
$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,25,-2.20,-53.0,0.0,0.0,0,77,0.00,0.00,-49.85,0.000,2,0.000,0.000,409,2211,2461
$GC,80,-2.25,-97.8,2.2,-3.2,8,148,12.62,2.65,-47.85,0.000,4,0.201,0.073,2401,791,3601
$GC,174,-2.25,-97.8,7.9,-14.6,23,180,0.00,2.47,0.00,0.000,6,0.000,0.037,2401,2202,3602
$GC,246,-2.25,-97.8,18.9,-15.1,34,252,0.00,2.65,0.00,0.000,4,0.000,0.062,2401,792,3603
$GC,502,-2.25,-97.8,58.1,-15.5,54,509,0.00,2.50,0.00,0.000,6,0.000,0.037,2401,2191,3604
$GC,698,-2.25,-97.8,87.3,-14.5,70,702,0.00,2.60,0.00,0.000,4,0.000,0.064,2401,794,3604
$GC,744,-2.25,-97.8,94.0,-15.0,73,748,0.00,2.47,0.00,0.000,6,0.000,0.038,2401,2201,3604
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,937,-0.38,0.0,121.1,14.7,88,1019,2.17,0.00,77.70,0.675,6,0.120,0.000,2813,2063,3202
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,2.25,97.8,124.4,0.0,95,1108,2.65,2.62,75.80,0.658,4,0.058,0.064,3392,690,2802
$GC,1219,2.25,97.8,109.8,10.4,110,1227,0.00,2.50,0.00,0.000,6,0.000,0.037,3392,2072,2800
$GC,1415,2.25,97.8,90.7,10.0,126,1420,0.00,2.58,0.00,0.000,4,0.000,0.061,3392,3483,2800
$GC,1673,2.25,97.8,63.7,10.5,145,1677,0.00,2.50,0.00,0.000,6,0.000,0.036,3391,2088,2800
$GC,1875,2.25,97.8,43.7,9.2,161,1879,0.00,2.53,0.00,0.000,4,0.000,0.056,3392,3480,2799
$GC,2132,2.25,97.8,19.3,9.4,181,2139,0.00,2.45,0.00,0.000,6,0.000,0.036,3392,2073,2799
$GC,2205,2.26,102.2,12.8,8.4,192,2217,0.00,2.67,2.83,0.752,4,0.000,0.066,3392,679,2785
$STATE,2322,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,5.5,1.021895
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2395,265.30,0.570,0,0,746,602.46
$SM_GC,1.31,13.48,0.00,0.00,0.039,0.000,0.000,412,2210,743,-11.41,0.28,603.19
$IRIDIUM_FIX,4719.74,-12251.79,260907,080800
$TT8_MAMPS,0.071331
$HUMID,2219
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,999.0
$24V_AH,23.2,25.812
$10V_AH,10.1,16.764
$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,30.925,36.125,156.325,265.300,0.000,61.682,30.800,149.925,0.250,29.050,3039.950,12.409,429.163,1423.239,538.369,474.333,353.669,33.338,811.206,0.000,451.285,0.000,2.488
$DEVICE_MAMPS,200.954,72.865,752.427,569.881,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.399,0.000,0.000,0.000,0.000,0.000,0.000,3069.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6455,220
$CFSIZE,260231168,254230528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,064611,4739.514,-12252.450,11,3.0,30,18.3