version: 66.02
glider: 117
mission: 4
dive: 299
start: 10 4 107 14 50 28
data:
$ID,117
$MISSION,4
$DIVE,299
$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,-23839.457
$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,28
$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
$GPS1,144029,4745.120,-12249.948,12,2.8,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-60.3
$GPS2,144929,4745.087,-12249.936,14,3.1,33,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,-0.157
$KALMAN_X,39385.9,-36.5,182.2,-36088.3,19.5
$KALMAN_Y,23283.7,-57.5,65.6,-13478.2,-22.8
$MHEAD_RNG_PITCHd_Wd,197.3,1031,-16.6,-7.037
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.39,-97.8,0.0,0.0,0,109,0.00,0.00,-78.55,0.000,2,0.000,0.000,407,2194,3009
$GC,112,-1.39,-97.8,2.2,-4.3,13,150,13.80,2.62,-17.90,0.000,4,0.199,0.068,2589,3604,3602
$GC,375,-1.39,-97.8,27.1,-8.3,47,379,0.00,2.42,0.00,0.000,6,0.000,0.035,2588,2201,3604
$GC,570,-1.39,-97.8,42.8,-7.8,62,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,3604
$GC,763,-1.39,-97.8,57.2,-7.5,77,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,3604
$GC,951,-1.39,-97.8,72.3,-8.2,92,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,3603
$GC,1140,-1.39,-97.8,87.1,-7.8,107,1145,0.00,2.53,0.00,0.000,4,0.000,0.057,2589,3597,3604
$GC,1160,-1.39,-97.8,88.8,-7.9,108,1164,0.00,2.42,0.00,0.000,6,0.000,0.035,2588,2193,3603
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1246,-0.38,0.0,95.1,7.7,114,1327,1.15,0.00,77.30,0.670,6,0.101,0.000,2814,2069,3202
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1331,1.39,97.8,97.3,0.0,121,1411,1.83,0.00,75.97,0.650,6,0.062,0.000,3201,2069,2803
$GC,1600,1.42,118.1,84.7,6.1,143,1625,0.00,2.62,15.40,0.680,4,0.000,0.054,3201,3471,2719
$GC,1706,1.42,121.3,77.5,6.9,151,1713,0.00,2.42,2.08,0.777,6,0.000,0.036,3201,2088,2707
$GC,1902,1.43,123.4,63.4,6.9,166,1906,0.00,2.53,0.00,0.000,4,0.000,0.055,3201,3477,2707
$GC,1961,1.43,123.4,58.8,7.9,170,1965,0.00,2.45,0.00,0.000,6,0.000,0.036,3201,2074,2708
$GC,2156,1.43,123.4,44.8,7.1,185,2160,0.00,2.53,0.00,0.000,4,0.000,0.054,3201,3476,2707
$GC,2249,1.43,123.4,37.9,7.2,192,2253,0.00,2.42,0.00,0.000,6,0.000,0.036,3201,2079,2707
$GC,2444,1.43,128.4,24.3,6.8,207,2457,0.00,2.55,5.40,0.717,4,0.000,0.054,3201,3477,2678
$GC,2563,1.48,165.4,16.9,5.2,220,2600,0.00,2.45,28.38,0.641,6,0.000,0.035,3201,2070,2527
$GC,2666,1.51,194.1,11.6,5.7,236,2691,0.12,0.00,21.60,0.631,6,0.052,0.000,3236,2070,2411
$GC,2757,1.51,194.1,5.3,7.4,250,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2070,2409
$STATE,2767,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,-0.1,1.022528
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2876,114.72,0.580,0,0,1366,450.13
$SM_GC,0.62,0.00,0.00,114.72,0.000,0.000,0.580,407,2210,1366,-11.46,0.28,450.13
$IRIDIUM_FIX,4726.11,-12250.84,041007,171739
$TT8_MAMPS,0.071331
$HUMID,2181
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,999.0
$24V_AH,23.7,43.259
$10V_AH,10.1,27.936
$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,29.600,30.350,226.125,114.725,0.000,60.791,52.131,204.218,0.250,0.000,3664.000,34.271,488.605,1633.610,438.022,500.218,488.847,33.342,723.397,0.000,454.287,0.000,2.489
$DEVICE_MAMPS,199.420,68.263,776.971,579.852,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,186.980,0.000,0.000,0.000,0.000,0.000,0.000,3664.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6462,264
$CFSIZE,260231168,248266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,154137,4744.879,-12250.157,36,1.3,41,18.3