version: 66.02
glider: 117
mission: 4
dive: 292
start: 10 4 107 6 59 58
data:
$ID,117
$MISSION,4
$DIVE,292
$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,-23633.49
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,064523,4745.405,-12249.989,14,3.8,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-56.8
$GPS2,065859,4745.424,-12249.925,14,4.4,33,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,GRID2
$TGT_LATLONG,4746.140,-12249.469
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.184
$KALMAN_X,39148.9,119.5,-197.6,-35616.1,15.1
$KALMAN_Y,23143.7,274.8,-51.3,-12933.4,-89.2
$MHEAD_RNG_PITCHd_Wd,359.6,1442,-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,27,-1.39,-97.8,0.0,0.0,0,113,0.00,0.00,-82.68,0.000,2,0.000,0.000,410,2206,3077
$GC,116,-1.39,-97.8,2.4,-4.5,14,153,13.77,2.65,-15.07,0.000,4,0.199,0.076,2590,800,3604
$GC,405,-1.39,-97.8,29.7,-7.7,49,409,0.00,2.45,0.00,0.000,6,0.000,0.036,2589,2196,3606
$GC,600,-1.39,-97.8,44.3,-7.5,64,604,0.00,2.60,0.00,0.000,4,0.000,0.064,2589,800,3605
$GC,674,-1.39,-97.8,49.9,-7.9,69,678,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2200,3606
$GC,871,-1.39,-97.8,65.3,-7.7,84,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,3606
$GC,1062,-1.39,-97.8,79.3,-7.4,99,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,3606
$GC,1250,-1.39,-97.8,93.7,-7.7,114,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,3606
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1277,-0.38,0.0,95.8,7.9,116,1359,1.12,0.00,77.80,0.672,6,0.095,0.000,2813,2063,3202
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1362,1.39,97.8,98.3,0.0,123,1443,1.83,0.00,76.38,0.650,6,0.062,0.000,3200,2063,2803
$GC,1631,1.41,110.6,85.2,6.4,145,1647,0.00,2.62,9.50,0.695,4,0.000,0.055,3201,3469,2751
$GC,1723,1.41,110.6,78.7,7.5,152,1727,0.00,2.42,0.00,0.000,6,0.000,0.036,3200,2082,2750
$GC,1918,1.42,120.0,65.2,6.6,167,1931,0.00,2.55,7.07,0.709,4,0.000,0.054,3200,3475,2711
$GC,1976,1.42,120.0,60.8,7.7,171,1983,0.00,2.47,0.00,0.000,6,0.000,0.035,3201,2079,2711
$GC,2173,1.42,120.0,47.1,7.1,187,2177,0.00,2.53,0.00,0.000,4,0.000,0.054,3201,3475,2711
$GC,2264,1.42,120.0,40.1,7.3,193,2271,0.00,2.45,0.00,0.000,6,0.000,0.035,3201,2087,2710
$GC,2461,1.42,121.3,26.1,7.0,209,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2087,2710
$GC,2654,1.52,200.9,16.2,3.2,231,2722,0.15,2.62,62.05,0.624,4,0.048,0.054,3246,3483,2381
$GC,2777,1.52,200.9,9.2,8.2,250,2783,0.00,2.47,0.00,0.000,6,0.000,0.036,3246,2075,2380
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,0.3,0.999801
$STATE,2887,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2917,111.90,0.581,0,0,1367,450.13
$SM_GC,0.71,0.00,0.00,111.90,0.000,0.000,0.581,407,2214,1367,-11.47,0.40,450.13
$IRIDIUM_FIX,4729.30,-12252.58,041007,101055
$TT8_MAMPS,0.073632
$HUMID,2163
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.9,999.0
$24V_AH,23.7,42.547
$10V_AH,10.1,27.338
$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,29.825,30.700,232.800,111.900,0.000,94.002,69.163,353.625,0.250,0.000,3969.000,34.691,484.095,1734.326,441.564,505.794,697.497,33.343,726.372,0.000,457.840,0.000,2.489
$DEVICE_MAMPS,199.420,75.933,708.708,580.619,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.070,0.000,0.000,0.000,0.000,0.000,0.000,3969.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6447,267
$CFSIZE,260231168,248496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041007,075137,4745.677,-12249.846,34,1.6,34,18.3