version: 66.02
glider: 117
mission: 4
dive: 289
start: 10 4 107 3 52 3
data:
$ID,117
$MISSION,4
$DIVE,289
$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,-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,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,-23548.277
$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,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
$GPS1,032659,4744.880,-12250.448,10,4.6,30,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-58.4
$GPS2,035055,4744.852,-12250.519,35,1.3,53,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,GRID2
$TGT_LATLONG,4746.140,-12249.469
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,0.156
$KALMAN_X,39034.5,202.4,49.1,-36562.1,-121.1
$KALMAN_Y,23068.2,349.5,182.1,-14218.9,-77.1
$MHEAD_RNG_PITCHd_Wd,18.0,2721,-16.6,-7.037
$D_GRID,139
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.39,-97.8,0.0,0.0,0,107,0.00,0.00,-78.47,0.000,2,0.000,0.000,412,2186,2947
$GC,110,-1.39,-97.8,2.0,-3.5,13,153,13.70,2.62,-21.48,0.000,4,0.197,0.076,2593,796,3602
$GC,365,-1.39,-97.8,24.2,-7.7,48,371,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2201,3604
$GC,560,-1.39,-97.8,39.7,-7.8,64,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,3604
$GC,752,-1.39,-97.8,54.4,-7.7,79,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2201,3604
$GC,942,-1.39,-97.8,69.3,-8.0,94,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,3604
$GC,1130,-1.39,-97.8,83.5,-7.6,109,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,3604
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1284,-0.38,0.0,95.4,7.9,121,1365,1.10,0.00,77.07,0.676,6,0.096,0.000,2811,2065,3202
$STATE,1366,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1369,1.39,97.8,97.9,0.0,128,1453,1.83,2.67,76.15,0.653,4,0.062,0.067,3199,685,2803
$GC,1474,1.47,155.3,95.1,4.2,137,1526,0.00,2.50,44.50,0.650,6,0.000,0.036,3199,2090,2568
$GC,1724,1.47,155.3,75.7,8.1,157,1728,0.00,2.53,0.00,0.000,4,0.000,0.060,3199,3475,2567
$GC,1823,1.47,155.3,67.6,7.8,164,1827,0.00,2.42,0.00,0.000,6,0.000,0.037,3199,2089,2567
$GC,2018,1.47,155.3,52.5,7.7,179,2023,0.00,2.53,0.00,0.000,4,0.000,0.055,3199,3479,2566
$GC,2070,1.47,155.3,48.0,8.9,182,2077,0.00,2.45,0.00,0.000,6,0.000,0.036,3199,2087,2566
$GC,2266,1.47,155.3,31.7,8.0,198,2270,0.00,2.53,0.00,0.000,4,0.000,0.054,3199,3479,2566
$GC,2306,1.47,155.3,28.2,8.7,200,2312,0.00,2.42,0.00,0.000,6,0.000,0.035,3199,2079,2566
$GC,2506,1.51,195.4,13.3,5.1,223,2543,0.15,2.58,30.17,0.647,4,0.045,0.054,3240,3474,2405
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,2.3,1.010718
$STATE,2648,end surface coast,CONTROL_FINISHED_OK
$STATE,2648,begin surface
$SM_CCo,2679,115.43,0.597,0,0,1367,450.13
$SM_GC,0.80,0.00,0.00,115.43,0.000,0.000,0.597,411,2189,1367,-11.45,-0.31,450.13
$IRIDIUM_FIX,4726.11,-12255.26,041007,070725
$TT8_MAMPS,0.072098
$HUMID,2161
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,999.0
$24V_AH,23.7,42.269
$10V_AH,10.1,27.097
$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,30.175,30.150,227.900,115.425,0.000,181.057,229.729,588.196,0.750,4.150,4370.850,53.921,445.936,1710.083,433.102,488.606,1178.562,33.341,705.526,0.000,422.355,0.000,2.488
$DEVICE_MAMPS,197.119,75.933,676.494,597.493,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.544,0.000,0.000,0.000,0.000,0.000,0.000,4375.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.507,51.000
$DATA_FILE_SIZE,6450,245
$CFSIZE,260231168,248590336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,043927,4745.032,-12250.381,13,1.8,13,18.3