version: 66.04
glider: 123
mission: 4
dive: 9
start: 5 28 108 23 16 59
data:
$ID,123
$MISSION,4
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,50
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51548
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027999999
$HD_B,0.017999999
$HD_C,2.1e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-36050.633
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,345
$PITCH_MAX,3616
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11.9
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3674
$ROLL_DEG,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,369
$VBD_MAX,4035
$C_VBD,3437
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.0248604
$PRESSURE_SLOPE,9.0919311e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,50
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,54
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,85
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043589748
$SEABIRD_T_H,0.0006396008
$SEABIRD_T_I,2.6986154e-05
$SEABIRD_T_J,3.1082457e-06
$SEABIRD_C_G,-9.8770781
$SEABIRD_C_H,1.1010205
$SEABIRD_C_I,-0.00062826258
$SEABIRD_C_J,0.00014440648
$GPS1,231257,4743.762,-12224.736,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.3
$GPS2,231639,4743.741,-12224.758,13,2.0,13,18.2
$SPEED_LIMITS,0.173,0.190
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,195.8,539,-21.6,-10.000
$D_GRID,175
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-2.00,-146.6,0.0,0.0,0,144,0.00,0.00,-128.20,0.000,2,0.000,0.000,346,2888,3177
$GC,146,-2.00,-146.6,3.1,-6.5,22,190,13.02,2.50,-20.33,0.000,4,0.219,0.058,2390,1482,4037
$GC,201,-1.56,-146.6,12.5,-15.9,31,208,0.55,2.47,0.00,0.000,6,0.152,0.041,2488,2905,4037
$GC,275,-1.56,-146.6,21.8,-11.8,44,281,0.00,2.47,0.00,0.000,4,0.000,0.045,2488,1486,4037
$GC,444,-1.75,-146.6,42.4,-12.2,74,451,0.15,2.58,0.00,0.000,6,0.062,0.044,2451,2964,4038
$GC,518,-1.75,-146.6,52.6,-14.2,87,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2964,4038
$GC,725,-1.75,-146.6,83.3,-14.8,124,731,0.00,1.27,0.00,0.000,4,0.000,0.064,2451,3667,4039
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,771,begin apogee
$GC,776,-0.42,0.0,90.1,15.0,132,907,1.50,0.00,122.80,0.741,6,0.146,0.000,2733,2295,3437
$STATE,908,end apogee,CONTROL_FINISHED_OK
$STATE,908,begin climb
$GC,909,2.00,146.6,95.6,0.0,155,1042,2.62,2.65,119.95,0.723,4,0.104,0.069,3267,906,2839
$GC,1087,1.82,146.6,81.4,13.4,186,1094,0.20,2.42,0.00,0.000,6,0.127,0.038,3233,2305,2838
$GC,1295,1.82,146.6,56.9,11.7,223,1302,0.00,2.45,0.00,0.000,4,0.000,0.058,3232,3673,2838
$GC,1358,1.68,146.6,49.6,11.8,234,1365,0.17,2.38,0.00,0.000,6,0.156,0.037,3203,2280,2838
$GC,1433,1.77,166.6,42.3,9.1,247,1457,0.00,2.55,18.20,0.676,4,0.000,0.067,3203,907,2756
$GC,1541,1.89,166.6,31.0,10.6,266,1548,0.20,2.28,0.00,0.000,6,0.062,0.038,3251,2227,2756
$GC,1616,1.89,166.6,22.5,11.3,279,1622,0.00,2.58,0.00,0.000,4,0.000,0.058,3251,3664,2756
$GC,1684,1.75,166.6,14.4,11.0,291,1691,0.20,2.38,0.00,0.000,6,0.130,0.037,3216,2279,2757
$GC,1758,1.95,221.7,8.0,7.4,304,1813,0.20,2.53,45.88,0.690,4,0.063,0.058,3268,3663,2532
$GC,1903,2.31,444.7,4.9,-0.5,329,1994,0.30,1.92,84.28,0.680,2,0.054,0.035,3339,2513,2012
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1995,begin surface coast
$FINISH,1.3,1.018407
$STATE,2016,end surface coast,CONTROL_FINISHED_OK
$STATE,2017,begin surface
$SM_CCo,2037,67.47,0.651,0,0,1397,500.17
$SM_GC,1.09,0.00,0.00,67.47,0.000,0.000,0.651,346,2898,1397,-11.45,-0.06,500.17
$IRIDIUM_FIX,4726.11,-12222.38,220897,222218
$TT8_MAMPS,0.024544
$HUMID,1917
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,19.50
$XPDR_PINGS,30
$24V_AH,23.7,1.504
$10V_AH,10.1,0.509
$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,Compass2
$DEVICE_SECS,33.175,38.450,391.100,67.475,0.000,32.984,42.604,85.433,7.500,0.000,0.000,13.398,470.485,549.396,540.037,589.697,196.188,0.000,925.049,0.000,584.867,0.000,0.543,0.000
$DEVICE_MAMPS,219.362,69.030,740.922,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,230.889,236.678,140.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19148,348
$CAP_FILE_SIZE,39436,0
$CFSIZE,260165632,257327104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,235305,4743.634,-12224.824,10,2.5,29,18.2