version: 66.02
glider: 117
mission: 4
dive: 115
start: 9 26 107 20 28 54
data:
$ID,117
$MISSION,4
$DIVE,115
$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,-19225.32
$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,29
$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,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
$GPS1,202017,4739.244,-12253.367,11,6.8,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.0
$GPS2,202747,4739.226,-12253.405,12,6.4,31,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,0.178
$KALMAN_X,21963.1,59.5,97.6,-23000.7,-155.7
$KALMAN_Y,10071.6,77.6,79.0,-11262.9,-237.4
$MHEAD_RNG_PITCHd_Wd,13.2,514,-20.3,-8.889
$D_GRID,129
$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,-97.8,0.0,0.0,0,81,0.00,0.00,-55.12,0.000,2,0.000,0.000,412,2215,2566
$GC,84,-1.68,-97.8,2.1,-2.6,9,152,13.40,2.50,-45.97,0.000,4,0.199,0.069,2525,3590,3602
$GC,265,-1.68,-97.8,16.4,-11.6,37,271,0.00,2.40,0.00,0.000,6,0.000,0.035,2526,2198,3604
$GC,341,-1.68,-97.8,23.5,-9.2,46,345,0.00,2.50,0.00,0.000,4,0.000,0.054,2528,3587,3604
$GC,372,-1.68,-97.8,26.7,-10.2,48,380,0.00,2.40,0.00,0.000,6,0.000,0.033,2526,2203,3604
$GC,569,-1.68,-97.8,46.5,-10.2,64,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2203,3605
$GC,761,-1.68,-97.8,64.8,-9.4,79,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3605
$GC,949,-1.68,-97.8,83.4,-9.9,94,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2203,3605
$GC,1138,-1.68,-97.8,102.0,-9.6,109,1143,0.00,2.53,0.00,0.000,4,0.000,0.057,2525,3593,3605
$GC,1229,-1.68,-97.8,112.0,-11.1,115,1236,0.00,2.42,0.00,0.000,6,0.000,0.035,2526,2202,3605
$STATE,1310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1315,-0.38,0.0,120.4,10.2,122,1397,1.48,0.00,77.75,0.676,6,0.107,0.000,2812,2076,3202
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1400,1.68,97.8,123.5,0.0,129,1486,2.10,2.58,75.65,0.658,4,0.062,0.054,3269,3466,2802
$GC,1539,1.72,130.1,118.8,6.9,140,1568,0.00,2.40,24.62,0.667,6,0.000,0.035,3268,2088,2671
$GC,1758,1.72,130.1,100.1,9.0,157,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2088,2669
$GC,1949,1.72,130.1,83.2,9.0,172,1953,0.00,2.50,0.00,0.000,4,0.000,0.055,3269,3466,2669
$GC,2034,1.72,130.1,75.1,9.6,178,2038,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2077,2669
$GC,2236,1.73,131.8,57.0,8.8,194,2240,0.00,2.53,0.00,0.000,4,0.000,0.054,3268,3469,2669
$GC,2367,1.73,131.8,45.2,9.1,203,2374,0.00,2.42,0.00,0.000,6,0.000,0.035,3268,2076,2669
$GC,2563,1.73,136.5,28.6,8.6,219,2569,0.00,0.00,4.45,0.724,6,0.000,0.000,3268,2077,2645
$GC,2756,1.75,155.2,12.6,7.7,240,2775,0.00,2.62,14.18,0.658,4,0.000,0.054,3268,3471,2569
$STATE,2852,end climb,SURFACE_DEPTH_REACHED
$STATE,2852,begin surface coast
$FINISH,1.6,1.009441
$STATE,2952,end surface coast,CONTROL_FINISHED_OK
$STATE,2952,begin surface
$SM_CCo,2980,133.20,0.584,0,0,1366,450.13
$SM_GC,1.38,0.00,0.00,133.20,0.000,0.000,0.584,411,2189,1366,-11.44,-0.28,450.13
$IRIDIUM_FIX,4719.74,-12254.47,260907,232313
$TT8_MAMPS,0.071331
$HUMID,2228
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.9,999.0
$24V_AH,23.8,27.128
$10V_AH,10.1,17.859
$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,30.600,34.650,196.650,133.200,0.000,61.685,40.881,150.998,0.500,29.060,3655.940,34.008,499.749,1759.326,439.422,512.377,382.076,33.343,731.146,0.000,470.141,0.000,2.491
$DEVICE_MAMPS,198.653,69.030,724.048,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,190.518,0.000,0.000,0.000,0.000,0.000,0.000,3685.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6441,270
$CFSIZE,260231168,253755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,212153,4739.280,-12253.291,11,9.3,30,18.3