version: 66.02
glider: 117
mission: 4
dive: 298
start: 10 4 107 13 48 27
data:
$ID,117
$MISSION,4
$DIVE,298
$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,-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,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,-23804.557
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,133408,4745.355,-12249.800,11,1.6,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-61.3
$GPS2,134728,4745.358,-12249.760,12,3.0,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,-0.161
$KALMAN_X,39343.1,-37.3,154.5,-35799.0,63.9
$KALMAN_Y,23340.0,-17.1,21.3,-13031.0,31.4
$MHEAD_RNG_PITCHd_Wd,195.5,1575,-16.6,-7.037
$D_GRID,173
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.39,-97.8,0.0,0.0,0,108,0.00,0.00,-78.43,0.000,2,0.000,0.000,406,2184,2996
$GC,112,-1.39,-97.8,2.1,-3.9,13,155,13.75,2.62,-18.98,0.000,4,0.198,0.069,2591,3597,3603
$GC,241,-1.39,-97.8,14.2,-10.9,33,247,0.00,2.42,0.00,0.000,6,0.000,0.035,2590,2201,3605
$GC,313,-1.39,-97.8,21.2,-9.0,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,3605
$GC,504,-1.39,-97.8,36.3,-8.0,58,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,3605
$GC,693,-1.39,-97.8,50.7,-7.4,73,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,3605
$GC,883,-1.39,-97.8,65.2,-7.7,88,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,3605
$GC,1072,-1.39,-97.8,79.9,-7.7,103,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,3605
$GC,1261,-1.39,-97.8,95.0,-8.0,118,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,3605
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1276,-0.38,0.0,95.9,7.8,119,1357,1.12,0.00,77.65,0.670,6,0.099,0.000,2814,2073,3202
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1361,1.39,97.8,98.5,0.0,126,1441,1.83,0.00,76.07,0.649,6,0.063,0.000,3198,2074,2803
$GC,1630,1.43,127.1,87.0,5.6,148,1658,0.00,2.60,22.62,0.665,4,0.000,0.054,3198,3482,2683
$GC,1693,1.43,127.1,82.8,7.4,153,1697,0.00,2.45,0.00,0.000,6,0.000,0.036,3198,2087,2682
$GC,1889,1.43,127.6,68.9,7.0,168,1893,0.00,2.53,0.00,0.000,4,0.000,0.056,3198,3484,2682
$GC,1967,1.43,127.6,62.9,7.3,173,1973,0.00,2.45,0.00,0.000,6,0.000,0.036,3198,2077,2682
$GC,2163,1.43,127.6,49.0,7.1,189,2167,0.00,2.53,0.00,0.000,4,0.000,0.054,3198,3479,2681
$GC,2228,1.43,127.6,44.3,7.3,193,2234,0.00,2.45,0.00,0.000,6,0.000,0.036,3198,2073,2681
$GC,2424,1.43,127.6,29.8,7.2,209,2428,0.00,2.55,0.00,0.000,4,0.000,0.054,3198,3482,2681
$GC,2502,1.45,146.3,24.7,6.1,214,2522,0.00,2.45,14.30,0.670,6,0.000,0.036,3198,2071,2605
$GC,2718,1.50,183.6,12.4,5.2,242,2755,0.12,2.60,28.40,0.634,4,0.051,0.054,3234,3468,2452
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,-0.0,1.022550
$STATE,2906,end surface coast,CONTROL_FINISHED_OK
$STATE,2906,begin surface
$SM_CCo,2934,119.30,0.581,0,0,1367,450.13
$SM_GC,0.74,0.00,0.00,119.30,0.000,0.000,0.581,407,2194,1367,-11.47,-0.17,450.13
$IRIDIUM_FIX,4726.11,-12248.15,041007,171744
$TT8_MAMPS,0.075166
$HUMID,2173
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,999.0
$24V_AH,23.7,43.175
$10V_AH,10.1,27.859
$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,29.650,30.050,219.050,119.300,0.000,98.602,66.162,344.298,0.500,4.150,3970.850,32.799,491.756,1762.655,442.447,489.106,685.766,33.344,720.129,0.000,445.946,0.000,2.489
$DEVICE_MAMPS,197.886,69.030,669.591,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.916,0.000,0.000,0.000,0.000,0.000,0.000,3975.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6477,271
$CFSIZE,260231168,248295424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,144029,4745.120,-12249.948,12,2.8,31,18.3