version: 66.02
glider: 117
mission: 4
dive: 305
start: 10 4 107 21 19 31
data:
$ID,117
$MISSION,4
$DIVE,305
$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,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,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,-23969.088
$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,25
$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
$GPS1,210038,4744.521,-12250.433,8,1.5,8,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-56.8
$GPS2,211823,4744.496,-12250.417,11,7.9,30,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.013,0.121
$KALMAN_X,39513.2,4.3,-120.4,-36552.2,16.2
$KALMAN_Y,23182.1,-138.6,-35.0,-14287.0,-42.0
$MHEAD_RNG_PITCHd_Wd,347.8,229,-27.4,-7.037
$D_GRID,164
$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,27,-2.16,-37.3,0.0,0.0,0,146,0.00,0.00,-114.25,0.000,2,0.000,0.000,410,2207,3063
$GC,149,-2.18,-60.0,2.1,-4.2,19,181,12.75,2.50,-11.32,0.000,4,0.201,0.067,2417,3587,3449
$GC,431,-2.18,-60.0,38.3,-11.9,50,438,0.00,2.42,0.00,0.000,6,0.000,0.035,2416,2201,3451
$GC,627,-2.18,-60.0,60.3,-11.5,66,631,0.00,2.50,0.00,0.000,4,0.000,0.055,2416,3586,3451
$GC,845,-2.18,-60.0,86.6,-12.1,82,849,0.00,2.40,0.00,0.000,6,0.000,0.035,2417,2198,3451
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,925,begin apogee
$GC,932,-0.38,0.0,96.0,11.3,88,980,2.05,0.00,44.15,0.669,6,0.121,0.000,2808,2073,3202
$STATE,981,end apogee,CONTROL_FINISHED_OK
$STATE,981,begin climb
$GC,984,2.18,60.0,98.0,0.0,92,1039,2.62,0.00,48.38,0.655,6,0.060,0.000,3377,2073,2957
$GC,1228,2.19,66.0,85.4,6.3,112,1240,0.00,2.58,4.43,0.729,4,0.000,0.054,3378,3459,2932
$GC,1308,2.19,66.0,79.9,7.2,118,1312,0.00,2.40,0.00,0.000,6,0.000,0.035,3377,2085,2934
$GC,1504,2.19,69.4,66.6,6.6,133,1508,0.00,0.00,2.25,0.774,6,0.000,0.000,3377,2085,2919
$GC,1693,2.19,69.4,53.6,7.1,148,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2085,2922
$GC,1884,2.20,72.5,40.8,6.6,163,1896,0.00,2.55,2.53,0.765,4,0.000,0.067,3377,3468,2906
$GC,2081,2.20,72.5,26.1,7.3,178,2085,0.00,2.40,0.00,0.000,6,0.000,0.036,3377,2079,2907
$GC,2283,2.25,111.8,15.2,2.1,201,2319,0.00,2.58,30.00,0.642,4,0.000,0.054,3377,3473,2746
$GC,2386,2.29,143.6,13.5,3.0,217,2417,0.00,2.42,23.95,0.637,6,0.000,0.035,3377,2078,2616
$GC,2483,2.29,144.8,8.3,6.9,232,2489,0.00,2.65,0.00,0.000,4,0.000,0.068,3377,679,2616
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,-0.1,1.022031
$STATE,2602,end surface coast,CONTROL_FINISHED_OK
$STATE,2602,begin surface
$SM_CCo,2634,223.43,0.571,0,0,746,602.46
$SM_GC,0.52,0.00,0.00,223.43,0.000,0.000,0.571,412,2198,746,-11.44,-0.06,602.46
$IRIDIUM_FIX,4729.30,-12259.69,051007,010139
$TT8_MAMPS,0.072098
$HUMID,2130
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.7,43.852
$10V_AH,10.1,28.431
$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,30.975,30.275,155.675,223.425,0.000,182.239,371.423,121.256,0.500,0.000,4184.000,33.536,462.451,1638.855,514.434,493.795,841.752,33.339,794.898,0.000,456.588,0.000,2.489
$DEVICE_MAMPS,200.954,68.263,773.903,570.648,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,176.506,0.000,0.000,0.000,0.000,0.000,0.000,4184.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6447,250
$CFSIZE,260231168,248041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,220825,4744.575,-12250.311,40,0.9,40,18.3