version: 66.02
glider: 117
mission: 4
dive: 468
start: 10 11 107 1 24 45
data:
$ID,117
$MISSION,4
$DIVE,468
$D_SURF,5
$D_FLARE,2
$D_TGT,40
$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,15
$T_MISSION,30
$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,150
$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,-28356.297
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,011335,4745.084,-12249.819,14,2.7,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-57.5
$GPS2,012345,4745.055,-12249.817,14,1.4,14,18.3
$SPEED_LIMITS,0.154,0.251
$TGT_NAME,default
$TGT_LATLONG,47.650,-122.867
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.154
$KALMAN_X,35299.5,15.1,49.5,-31773.2,2.7
$KALMAN_Y,31106.5,37.0,-90.2,-21299.3,-31.8
$MHEAD_RNG_PITCHd_Wd,341.8,57,-27.7,-8.889
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-2.20,-53.0,0.0,0.0,0,164,0.00,0.00,-127.60,0.000,3,0.000,0.000,410,2196,3419
$GC,168,-2.22,-75.9,2.7,-6.3,21,193,12.85,2.60,-1.98,0.000,4,0.202,0.067,2408,3590,3517
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,415,-0.38,0.0,40.8,14.3,46,482,2.10,0.00,59.83,0.630,6,0.122,0.000,2811,2151,3202
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,486,2.22,75.9,44.8,0.0,52,554,2.65,0.00,58.83,0.622,6,0.058,0.000,3386,2151,2892
$GC,744,2.25,93.0,30.6,7.0,73,759,0.00,0.00,12.73,0.645,6,0.000,0.000,3385,2150,2823
$GC,948,2.25,98.8,13.6,8.2,94,961,0.00,2.58,4.05,0.693,4,0.000,0.057,3385,3537,2799
$GC,1213,2.34,165.9,5.4,1.4,134,1239,0.10,2.40,20.40,0.631,2,0.065,0.034,3411,2145,2689
$STATE,1240,end climb,SURFACE_DEPTH_REACHED
$STATE,1240,begin surface coast
$FINISH,-0.6,1.022816
$STATE,1495,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1495,begin surface
$SM_CCo,1529,168.70,0.571,0,0,1163,500.17
$SM_GC,0.05,0.00,0.00,168.70,0.000,0.000,0.571,412,2201,1163,-11.44,0.03,500.17
$IRIDIUM_FIX,4726.11,-12255.26,111007,040442
$TT8_MAMPS,0.072098
$HUMID,2140
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,24.3,999.0
$24V_AH,23.6,59.924
$10V_AH,10.0,40.075
$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,31.900,10.150,155.825,168.700,0.000,63.644,31.883,283.338,0.250,0.000,2509.000,14.479,313.759,692.903,447.652,312.236,561.755,33.320,637.528,0.000,290.514,0.000,2.475
$DEVICE_MAMPS,202.488,85.904,693.368,571.415,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,124.418,0.000,0.000,0.000,0.000,0.000,0.000,2509.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,3316,177
$CFSIZE,260231168,243245056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111007,015350,4745.080,-12249.835,8,1.2,8,18.3