version: 66.02
glider: 117
mission: 4
dive: 107
start: 9 26 107 12 38 46
data:
$ID,117
$MISSION,4
$DIVE,107
$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,-19016.41
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,123032,4739.453,-12252.258,39,1.8,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.6
$GPS2,123739,4739.480,-12252.197,13,1.6,13,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,-0.049
$KALMAN_X,22068.3,-26.7,-143.2,-21278.0,21.8
$KALMAN_Y,10737.6,-73.1,-177.5,-11060.8,68.9
$MHEAD_RNG_PITCHd_Wd,233.2,256,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.20,-53.0,0.0,0.0,0,69,0.00,0.00,-43.25,0.000,2,0.000,0.000,410,2183,2337
$GC,72,-2.25,-97.8,2.3,-3.3,7,145,12.70,2.60,-51.72,0.000,4,0.202,0.074,2402,811,3603
$GC,206,-2.25,-97.8,12.7,-14.0,28,212,0.00,2.42,0.00,0.000,6,0.000,0.036,2402,2200,3604
$GC,277,-2.25,-97.8,22.1,-13.1,38,281,0.00,2.53,0.00,0.000,4,0.000,0.058,2402,3598,3605
$GC,321,-2.25,-97.8,28.7,-14.8,41,329,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2211,3605
$GC,518,-2.25,-97.8,55.4,-13.9,57,522,0.00,2.50,0.00,0.000,4,0.000,0.056,2403,3597,3605
$GC,615,-2.25,-97.8,70.0,-15.1,64,623,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,2199,3605
$GC,812,-2.25,-97.8,98.9,-14.8,80,816,0.00,2.55,0.00,0.000,4,0.000,0.056,2402,3600,3605
$GC,851,-2.25,-97.8,104.6,-14.7,83,855,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2197,3605
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,969,-0.38,0.0,120.7,14.0,92,1051,2.17,0.00,77.68,0.675,6,0.123,0.000,2811,2075,3202
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,2.25,97.8,123.7,0.0,99,1139,2.67,0.00,75.85,0.659,6,0.061,0.000,3391,2076,2802
$GC,1328,2.25,97.8,102.3,10.4,121,1332,0.00,2.62,0.00,0.000,4,0.000,0.064,3391,680,2800
$GC,1379,2.25,97.8,96.7,10.8,124,1387,0.00,2.50,0.00,0.000,6,0.000,0.035,3391,2082,2800
$GC,1575,2.25,97.8,77.6,9.2,140,1579,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,3484,2800
$GC,1714,2.25,97.8,63.6,9.6,150,1721,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,2086,2800
$GC,1909,2.25,97.8,45.1,9.4,166,1913,0.00,2.53,0.00,0.000,4,0.000,0.055,3391,3479,2799
$GC,2134,2.25,99.9,24.3,8.6,183,2138,0.00,2.45,0.00,0.000,6,0.000,0.035,3391,2072,2800
$GC,2336,2.28,119.5,9.9,6.7,208,2360,0.00,2.60,16.05,0.653,4,0.000,0.055,3391,3470,2713
$STATE,2405,end climb,SURFACE_DEPTH_REACHED
$STATE,2405,begin surface coast
$FINISH,4.3,1.021347
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2507,157.50,0.581,0,0,1367,450.13
$SM_GC,1.43,0.00,0.00,157.50,0.000,0.000,0.581,411,2190,1367,-11.45,-0.31,450.13
$IRIDIUM_FIX,4719.74,-12251.79,260907,151518
$TT8_MAMPS,0.071331
$HUMID,2222
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,999.0
$24V_AH,23.1,26.433
$10V_AH,10.1,17.266
$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,31.925,39.975,169.575,157.500,0.000,60.483,38.659,156.178,0.250,29.050,3204.950,13.237,437.746,1416.425,447.556,452.393,368.167,33.346,717.273,0.000,430.460,0.000,4.123
$DEVICE_MAMPS,202.488,74.399,674.960,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.528,0.000,0.000,0.000,0.000,0.000,0.000,3234.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6429,230
$CFSIZE,260231168,254009344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260907,132414,4739.462,-12252.453,11,1.7,28,18.3