version: 66.02
glider: 117
mission: 4
dive: 329
start: 10 5 107 23 44 28
data:
$ID,117
$MISSION,4
$DIVE,329
$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,-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,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,-24576.762
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,231826,4744.619,-12250.200,11,1.8,28,18.3
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-58.0
$GPS2,234323,4744.662,-12250.311,14,2.2,33,18.3
$SPEED_LIMITS,0.170,0.201
$TGT_NAME,4_CC
$TGT_LATLONG,4744.617,-12250.380
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,-0.165
$KALMAN_X,37843.5,-19.2,-21.8,-34823.5,-65.9
$KALMAN_Y,20681.6,249.6,46.5,-11956.8,17.8
$MHEAD_RNG_PITCHd_Wd,175.6,120,-22.2,-7.917
$D_GRID,168
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.79,-68.1,0.0,0.0,0,147,0.00,0.00,-112.68,0.000,2,0.000,0.000,409,2193,3075
$GC,150,-1.83,-97.8,2.2,-4.9,19,187,13.18,2.62,-14.45,0.000,4,0.199,0.077,2494,806,3603
$GC,438,-1.83,-97.8,35.5,-11.4,53,442,0.00,2.45,0.00,0.000,6,0.000,0.036,2494,2201,3605
$GC,633,-1.83,-97.8,57.0,-11.1,68,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2202,3605
$GC,824,-1.83,-97.8,78.1,-11.2,83,829,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,3598,3605
$GC,870,-1.83,-97.8,83.6,-11.9,86,875,0.00,2.40,0.00,0.000,6,0.000,0.035,2494,2204,3605
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,982,-0.38,0.0,95.7,11.2,94,1063,1.62,0.00,76.18,0.669,6,0.109,0.000,2811,2132,3203
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,1.83,97.8,98.8,0.0,101,1148,2.28,0.00,76.05,0.651,6,0.061,0.000,3301,2134,2803
$GC,1336,1.84,102.9,83.1,7.5,123,1342,0.00,0.00,3.67,0.736,6,0.000,0.000,3301,2132,2782
$GC,1525,1.84,103.3,67.5,7.9,138,1529,0.00,2.58,0.00,0.000,4,0.000,0.056,3301,3550,2783
$GC,1630,1.84,103.3,58.3,8.8,145,1637,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2152,2783
$GC,1826,1.84,103.3,42.2,8.0,161,1830,0.00,2.53,0.00,0.000,4,0.000,0.057,3301,3546,2783
$GC,1885,1.84,103.3,37.2,8.6,165,1889,0.00,2.42,0.00,0.000,6,0.000,0.035,3301,2149,2783
$GC,2081,1.84,103.3,21.4,7.9,180,2085,0.00,2.55,0.00,0.000,4,0.000,0.057,3301,3554,2783
$GC,2339,1.96,202.4,8.0,0.2,217,2427,0.12,2.42,76.35,0.614,6,0.067,0.035,3330,2145,2375
$STATE,2431,end climb,SURFACE_DEPTH_REACHED
$STATE,2431,begin surface coast
$FINISH,-0.1,1.022430
$STATE,2525,end surface coast,CONTROL_FINISHED_OK
$STATE,2525,begin surface
$SM_CCo,2553,195.82,0.568,0,0,746,602.46
$SM_GC,0.45,0.00,0.00,195.82,0.000,0.000,0.568,410,2216,746,-11.45,0.42,602.46
$IRIDIUM_FIX,4726.11,-12248.15,061007,030329
$TT8_MAMPS,0.071331
$HUMID,2154
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,999.0
$24V_AH,23.6,46.418
$10V_AH,10.1,30.475
$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,30.625,25.075,232.250,195.825,0.000,185.705,306.811,571.426,0.250,0.000,4421.000,33.904,429.997,1569.488,534.433,475.409,1262.514,33.343,810.680,0.000,426.450,0.000,2.489
$DEVICE_MAMPS,198.653,83.603,736.320,567.580,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.602,0.000,0.000,0.000,0.000,0.000,0.000,4421.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6476,246
$CFSIZE,260231168,247271424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061007,003129,4744.508,-12250.263,15,2.9,34,18.3