version: 66.02
glider: 117
mission: 4
dive: 256
start: 10 2 107 17 6 35
data:
$ID,117
$MISSION,4
$DIVE,256
$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,500
$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,-22666.555
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,165156,4739.542,-12252.305,39,1.5,39,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.0
$GPS2,170526,4739.680,-12252.118,10,1.5,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,-0.155
$KALMAN_X,35607.6,335.8,-95.5,-35133.2,8.7
$KALMAN_Y,20024.6,282.9,-94.5,-20421.9,31.6
$MHEAD_RNG_PITCHd_Wd,202.0,530,-20.8,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.72,-93.1,0.0,0.0,0,113,0.00,0.00,-84.68,0.000,2,0.000,0.000,406,2182,2906
$GC,116,-1.72,-97.8,2.3,-5.1,14,158,13.50,0.00,-23.85,0.000,6,0.200,0.000,2523,2183,3602
$GC,224,-1.72,-97.8,10.3,-9.3,31,230,0.00,2.58,0.00,0.000,4,0.000,0.057,2523,3601,3604
$GC,243,-1.72,-97.8,12.1,-9.7,34,249,0.00,2.42,0.00,0.000,6,0.000,0.035,2523,2198,3604
$GC,315,-1.72,-97.8,19.5,-11.1,45,321,0.00,2.55,0.00,0.000,4,0.000,0.056,2523,3602,3604
$GC,346,-1.72,-97.8,22.8,-10.8,48,353,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2202,3604
$GC,543,-1.72,-97.8,42.4,-10.3,64,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2202,3604
$GC,735,-1.72,-97.8,62.0,-10.4,79,739,0.00,2.53,0.00,0.000,4,0.000,0.057,2523,3594,3604
$GC,800,-1.72,-97.8,69.7,-11.6,83,807,0.00,2.45,0.00,0.000,6,0.000,0.035,2523,2200,3604
$GC,996,-1.72,-97.8,88.5,-8.9,99,1001,0.00,2.60,0.00,0.000,4,0.000,0.067,2523,801,3604
$GC,1034,-1.72,-97.8,92.4,-9.8,101,1041,0.00,2.47,0.00,0.000,6,0.000,0.036,2525,2196,3604
$GC,1231,-1.72,-97.8,109.8,-9.7,117,1235,0.00,2.53,0.00,0.000,4,0.000,0.059,2523,3595,3603
$GC,1316,-1.72,-97.8,118.9,-9.6,123,1320,0.00,2.40,0.00,0.000,6,0.000,0.035,2523,2198,3604
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1333,-0.38,0.0,120.3,10.0,124,1414,1.50,0.00,77.68,0.696,6,0.113,0.000,2810,2076,3202
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1417,1.72,97.8,121.7,0.0,131,1503,2.17,2.67,76.78,0.671,4,0.069,0.066,3278,687,2802
$GC,1548,1.72,97.8,112.5,9.1,141,1556,0.00,2.50,0.00,0.000,6,0.000,0.035,3278,2086,2801
$GC,1745,1.75,123.5,97.4,7.2,157,1770,0.00,2.62,19.50,0.685,4,0.000,0.056,3277,3476,2698
$GC,2008,1.75,123.5,73.8,9.9,177,2013,0.00,2.42,0.00,0.000,6,0.000,0.036,3278,2088,2696
$GC,2204,1.75,123.5,56.0,9.0,192,2208,0.00,2.50,0.00,0.000,4,0.000,0.054,3278,3471,2696
$GC,2387,1.75,123.5,39.0,9.2,205,2394,0.00,2.45,0.00,0.000,6,0.000,0.035,3278,2079,2696
$GC,2584,1.75,123.5,21.7,9.2,221,2588,0.00,2.53,0.00,0.000,4,0.000,0.054,3278,3472,2696
$GC,2669,1.75,123.5,13.4,9.9,232,2676,0.00,2.42,0.00,0.000,6,0.000,0.036,3277,2079,2696
$GC,2741,1.75,123.5,6.8,9.1,243,2748,0.00,2.53,0.00,0.000,4,0.000,0.055,3278,3469,2696
$STATE,2771,end climb,SURFACE_DEPTH_REACHED
$STATE,2771,begin surface coast
$FINISH,1.4,1.022837
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2903,176.20,0.585,0,0,1162,500.17
$SM_GC,0.73,0.00,0.00,176.20,0.000,0.000,0.585,413,2188,1162,-11.44,-0.31,500.17
$IRIDIUM_FIX,4722.92,-12256.21,021007,202036
$TT8_MAMPS,0.072098
$HUMID,2154
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,999.0
$24V_AH,23.6,38.964
$10V_AH,10.1,24.357
$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,30.800,50.025,173.950,176.200,0.000,135.194,200.037,155.072,0.250,24.900,4005.100,16.027,502.438,1749.931,495.268,521.023,649.641,33.344,801.363,0.000,491.702,0.000,2.491
$DEVICE_MAMPS,200.187,67.496,696.436,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.623,0.000,0.000,0.000,0.000,0.000,0.000,4030.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6474,263
$CFSIZE,260231168,249765888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,175859,4739.511,-12252.217,10,3.5,29,18.3