version: 66.02
glider: 117
mission: 4
dive: 375
start: 10 7 107 20 30 37
data:
$ID,117
$MISSION,4
$DIVE,375
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,40
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$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,25
$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,602.45679
$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,-25832.475
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,29
$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
$GPS1,201502,4744.995,-12249.949,40,1.7,40,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-58.2
$GPS2,202938,4745.053,-12249.968,10,1.9,10,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,0.021
$KALMAN_X,38062.0,-224.2,-80.3,-34353.8,-3.6
$KALMAN_Y,29671.3,41.2,85.8,-20051.3,38.7
$MHEAD_RNG_PITCHd_Wd,64.6,199,-22.2,-7.917
$D_GRID,174
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.79,-68.1,0.0,0.0,0,129,0.00,0.00,-96.05,0.000,2,0.000,0.000,409,2203,3138
$GC,135,-1.83,-97.8,2.0,-5.4,16,167,13.15,2.55,-12.00,0.000,4,0.198,0.069,2494,3601,3602
$GC,374,-1.83,-97.8,33.8,-11.8,44,378,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2203,3604
$GC,570,-1.83,-97.8,55.7,-11.1,59,574,0.00,2.62,0.00,0.000,4,0.000,0.067,2494,800,3604
$GC,616,-1.83,-97.8,61.1,-11.3,62,621,0.00,2.45,0.00,0.000,6,0.000,0.037,2494,2198,3604
$GC,812,-1.83,-97.8,83.2,-11.0,77,816,0.00,2.53,0.00,0.000,4,0.000,0.058,2494,3603,3604
$GC,858,-1.83,-97.8,88.5,-11.5,80,862,0.00,2.42,0.00,0.000,6,0.000,0.035,2494,2198,3604
$STATE,919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,919,begin apogee
$GC,927,-0.38,0.0,95.3,10.5,85,1008,1.62,0.00,77.00,0.669,6,0.110,0.000,2811,2135,3202
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1012,1.83,97.8,98.1,0.0,92,1093,2.25,0.00,76.30,0.651,6,0.061,0.000,3302,2134,2803
$GC,1281,1.83,97.8,80.8,8.5,114,1285,0.00,2.58,0.00,0.000,4,0.000,0.056,3302,3549,2802
$GC,1367,1.83,97.8,72.9,9.4,120,1371,0.00,2.42,0.00,0.000,6,0.000,0.035,3302,2157,2801
$GC,1562,1.83,97.8,56.2,8.4,135,1567,0.00,2.53,0.00,0.000,4,0.000,0.056,3302,3547,2801
$GC,1636,1.83,99.0,50.2,7.8,140,1640,0.00,2.45,0.00,0.000,6,0.000,0.036,3302,2142,2801
$GC,1832,1.83,99.4,35.6,7.9,155,1836,0.00,2.60,0.00,0.000,4,0.000,0.065,3302,751,2801
$GC,1871,1.83,101.9,32.6,7.7,157,1880,0.00,2.45,2.72,0.759,6,0.000,0.035,3301,2152,2786
$GC,2074,1.88,140.1,19.0,4.9,175,2110,0.00,2.67,29.10,0.640,4,0.000,0.064,3302,751,2631
$GC,2124,1.93,180.1,16.7,4.8,183,2161,0.00,2.47,30.98,0.621,6,0.000,0.035,3302,2151,2466
$GC,2228,1.93,180.1,8.3,8.8,199,2234,0.00,2.55,0.00,0.000,4,0.000,0.061,3302,3544,2466
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,-0.4,1.022894
$STATE,2325,end surface coast,CONTROL_FINISHED_OK
$STATE,2325,begin surface
$SM_CCo,2356,207.02,0.568,0,0,746,602.46
$SM_GC,0.13,0.00,0.00,207.02,0.000,0.000,0.568,412,2195,746,-11.44,-0.14,602.46
$IRIDIUM_FIX,4729.30,-12252.58,081007,000059
$TT8_MAMPS,0.075166
$HUMID,2127
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,999.0
$24V_AH,23.7,50.569
$10V_AH,10.1,33.909
$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,30.225,40.125,216.100,207.025,0.000,172.721,320.444,0.000,0.250,0.000,3521.000,10.940,398.490,1453.756,529.887,401.138,674.937,33.346,786.568,0.000,383.623,0.000,2.488
$DEVICE_MAMPS,197.886,106.613,759.330,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,151.608,0.000,0.000,0.000,0.000,0.000,0.000,3521.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6455,214
$CFSIZE,260231168,245821440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071007,211409,4745.110,-12249.682,11,1.4,11,18.3