version: 66.02
glider: 117
mission: 4
dive: 293
start: 10 4 107 8 10 33
data:
$ID,117
$MISSION,4
$DIVE,293
$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,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,-23669.104
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,075137,4745.677,-12249.846,34,1.6,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.2
$GPS2,080935,4745.751,-12249.812,15,2.4,34,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,GRID2
$TGT_LATLONG,4746.140,-12249.469
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,0.174
$KALMAN_X,39153.9,91.9,-186.9,-35460.0,36.0
$KALMAN_Y,23303.7,251.9,-106.6,-12410.4,-22.1
$MHEAD_RNG_PITCHd_Wd,7.6,837,-16.6,-7.037
$D_GRID,171
$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,25,begin dive
$GC,29,-1.39,-97.8,0.0,0.0,0,110,0.00,0.00,-78.50,0.000,2,0.000,0.000,407,2214,2965
$GC,113,-1.39,-97.8,2.1,-3.5,13,156,13.75,2.50,-21.17,0.000,4,0.198,0.070,2589,3587,3603
$GC,406,-1.39,-97.8,28.5,-8.3,50,413,0.00,2.42,0.00,0.000,6,0.000,0.035,2589,2203,3605
$GC,603,-1.39,-97.8,43.7,-7.8,66,607,0.00,2.53,0.00,0.000,4,0.000,0.057,2589,3594,3605
$GC,720,-1.39,-97.8,53.8,-8.5,74,727,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2194,3605
$GC,916,-1.39,-97.8,68.5,-7.8,90,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,3605
$GC,1108,-1.39,-97.8,82.8,-7.4,105,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,3605
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1274,-0.38,0.0,95.1,7.9,118,1356,1.12,0.00,77.62,0.673,6,0.098,0.000,2812,2069,3202
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,1.39,97.8,97.5,0.0,125,1444,1.83,0.00,75.93,0.653,6,0.063,0.000,3199,2069,2803
$GC,1634,1.41,108.6,83.9,6.5,147,1647,0.00,2.62,7.97,0.703,4,0.000,0.054,3199,3469,2759
$GC,1679,1.41,108.6,80.8,7.2,150,1686,0.00,2.45,0.00,0.000,6,0.000,0.035,3199,2088,2758
$GC,1875,1.41,112.0,67.4,6.9,166,1887,0.00,2.55,2.42,0.776,4,0.000,0.055,3199,3466,2745
$GC,1919,1.41,112.0,64.3,7.2,169,1926,0.00,2.45,0.00,0.000,6,0.000,0.035,3199,2080,2745
$GC,2117,1.42,114.7,50.6,6.9,185,2124,0.00,2.55,1.80,0.801,4,0.000,0.054,3199,3475,2734
$GC,2192,1.42,114.7,45.3,7.1,190,2197,0.00,2.45,0.00,0.000,6,0.000,0.035,3199,2071,2734
$GC,2388,1.42,118.9,31.8,6.8,205,2393,0.00,0.00,2.97,0.766,6,0.000,0.000,3199,2071,2717
$GC,2577,1.46,152.8,19.7,5.4,220,2609,0.00,2.65,26.00,0.651,4,0.000,0.054,3199,3471,2579
$GC,2688,1.52,200.5,14.8,4.7,237,2732,0.15,2.45,36.45,0.633,6,0.048,0.035,3238,2070,2384
$GC,2798,1.52,200.5,7.5,7.2,254,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2070,2382
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,-0.1,1.011244
$STATE,2935,end surface coast,CONTROL_FINISHED_OK
$STATE,2935,begin surface
$SM_CCo,2963,197.85,0.572,0,0,746,602.46
$SM_GC,0.67,0.00,0.00,197.85,0.000,0.000,0.572,409,2197,746,-11.46,-0.11,602.46
$IRIDIUM_FIX,4729.30,-12245.46,041007,121258
$TT8_MAMPS,0.071331
$HUMID,2161
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,999.0
$24V_AH,23.7,42.664
$10V_AH,10.1,27.430
$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,29.700,30.425,231.175,197.850,0.000,180.478,207.232,275.556,0.250,8.300,4273.700,34.983,494.788,1869.534,538.531,508.095,846.142,33.336,831.255,0.000,467.789,0.000,2.489
$DEVICE_MAMPS,197.886,69.797,800.748,572.182,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.727,0.000,0.000,0.000,0.000,0.000,0.000,4282.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6467,275
$CFSIZE,260231168,248451072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041007,090403,4745.966,-12249.644,12,1.8,12,18.3