version: 66.06
glider: 523
mission: 4
dive: 46
start: 4 29 113 23 11 4
data:
$ID,523
$MISSION,4
$DIVE,46
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$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,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-36801.504
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,230500,2059.462,-15752.357,19,0.9,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.3
$GPS2,231048,2059.531,-15752.318,20,0.8,20,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$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,304.3,23435,-16.7,-9.036
$D_GRID,450
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.47,0.000,6,0.000,0.000,41,1921,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-8.0,13,118,9.43,2.15,0.00,0.000,4,0.233,0.048,2393,567,3397,0,0,0,0,0,0
$GC,359,-0.74,-146.0,56.8,-18.0,60,367,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1955,3399,0,0,0,0,0,0
$GC,696,-0.74,-146.0,110.1,-16.6,105,700,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,568,3400,0,0,0,0,0,0
$GC,848,-0.74,-146.0,131.4,-12.4,118,856,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1961,3401,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,172.6,-10.7,149,1179,0.00,2.17,0.00,0.000,4,0.000,0.051,2376,566,3402,0,0,0,0,0,0
$GC,1411,-0.74,-146.0,196.9,-10.4,170,1416,0.12,2.12,0.00,0.000,6,0.173,0.035,2398,1970,3403,0,0,0,0,0,0
$GC,1738,-0.74,-146.0,224.9,-8.8,187,1742,0.00,2.20,0.00,0.000,4,0.000,0.058,2389,3366,3403,0,0,0,0,0,0
$GC,1856,-0.74,-146.0,235.7,-9.4,192,1860,0.00,2.12,0.00,0.000,6,0.000,0.038,2390,1966,3403,0,0,0,0,0,0
$GC,2186,-0.74,-146.0,265.4,-9.1,208,2190,0.00,2.20,0.00,0.000,4,0.000,0.054,2380,3360,3403,0,0,0,0,0,0
$GC,2254,-0.74,-146.0,271.3,-8.0,211,2258,0.00,2.17,0.00,0.000,6,0.000,0.043,2380,1954,3403,0,0,0,0,0,0
$GC,2581,-0.74,-146.0,300.2,-9.1,227,2585,0.00,2.20,0.00,0.000,4,0.000,0.057,2379,543,3403,0,0,0,0,0,0
$GC,2698,-0.74,-146.0,312.2,-10.8,229,2703,0.12,2.15,0.00,0.000,6,0.167,0.041,2404,1961,3402,0,0,0,0,0,0
$GC,3037,-0.74,-146.0,341.9,-8.8,238,3041,0.00,2.17,0.00,0.000,4,0.000,0.058,2395,3367,3401,0,0,0,0,0,0
$GC,3099,-0.74,-146.0,347.5,-8.2,239,3103,0.00,2.20,0.00,0.000,6,0.000,0.042,2395,1950,3401,0,0,0,0,0,0
$GC,3448,-0.74,-146.0,373.7,-7.2,248,3452,0.00,2.20,0.00,0.000,4,0.000,0.064,2395,554,3398,0,0,0,0,0,0
$GC,3504,-0.74,-146.0,378.5,-8.6,249,3509,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,1964,3398,0,0,0,0,0,0
$GC,3855,-0.74,-146.0,401.4,-6.1,258,3859,0.00,2.25,0.00,0.000,4,0.000,0.063,2386,553,3396,0,0,0,0,0,0
$GC,3896,-0.74,-146.0,404.2,-6.3,259,3900,0.00,2.20,0.00,0.000,6,0.000,0.048,2376,1969,3396,0,0,0,0,0,0
$GC,4223,-0.74,-146.0,427.5,-7.1,267,4227,0.00,2.15,0.00,0.000,4,0.000,0.059,2366,3367,3393,0,0,0,0,0,0
$GC,4273,-0.74,-146.0,431.4,-7.2,268,4278,0.12,2.17,0.00,0.000,6,0.147,0.044,2401,1959,3394,0,0,0,0,0,0
$GC,4592,-0.74,-146.0,449.7,-5.9,276,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1959,3391,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4636,-0.17,0.0,452.2,6.1,277,4757,0.55,0.00,118.35,0.795,6,0.117,0.000,2585,1959,2800,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4761,0.74,146.0,454.1,0.0,280,4891,0.85,0.00,126.07,0.762,6,0.073,0.000,2877,1959,2204,0,0,0,0,0,0
$GC,5199,0.74,146.0,400.4,14.4,291,5203,0.00,2.28,0.00,0.000,4,0.000,0.064,2886,570,2196,0,0,0,0,0,0
$GC,5243,0.74,146.0,393.4,15.2,292,5247,0.00,2.25,0.00,0.000,6,0.000,0.046,2886,1982,2195,0,0,0,0,0,0
$GC,5561,0.74,146.0,346.5,14.5,300,5565,0.00,2.30,0.00,0.000,4,0.000,0.068,2896,568,2193,0,0,0,0,0,0
$GC,5588,0.74,146.0,342.4,14.3,300,5592,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,1984,2193,0,0,0,0,0,0
$GC,5899,0.74,146.0,295.2,15.1,308,5903,0.00,2.22,0.00,0.000,4,0.000,0.058,2896,3390,2192,0,0,0,0,0,0
$GC,5971,0.74,146.0,283.1,16.6,311,5975,0.00,2.22,0.00,0.000,6,0.000,0.045,2906,1976,2191,0,0,0,0,0,0
$GC,6286,0.74,146.0,234.3,14.4,326,6290,0.00,2.25,0.00,0.000,4,0.000,0.061,2916,558,2190,0,0,0,0,0,0
$GC,6365,0.74,146.0,223.9,12.9,329,6371,0.15,2.20,0.00,0.000,6,0.147,0.041,2874,1985,2189,0,0,0,0,0,0
$GC,6685,0.74,146.0,189.3,10.6,349,6689,0.00,2.15,0.00,0.000,4,0.000,0.058,2874,3380,2188,0,0,0,0,0,0
$GC,6747,0.74,146.0,182.3,12.1,354,6751,0.00,2.17,0.00,0.000,6,0.000,0.045,2882,1965,2188,0,0,0,0,0,0
$GC,7074,0.74,146.0,146.9,10.2,384,7078,0.00,2.17,0.00,0.000,4,0.000,0.059,2892,563,2188,0,0,0,0,0,0
$GC,7268,0.74,146.0,128.4,9.7,401,7271,0.00,2.17,0.00,0.000,6,0.000,0.039,2892,1985,2186,0,0,0,0,0,0
$GC,7595,0.76,167.1,98.5,8.2,431,7614,0.00,0.00,16.25,0.538,6,0.000,0.000,2892,1986,2118,0,0,0,0,0,0
$GC,7934,0.79,188.9,69.9,8.1,475,7958,0.00,0.00,19.15,0.510,6,0.000,0.000,2892,1986,2031,0,0,0,0,0,0
$GC,8286,0.79,188.9,39.6,9.9,539,8292,0.00,2.28,0.00,0.000,4,0.000,0.054,2902,567,2029,0,0,0,0,0,0
$GC,8424,0.79,188.9,26.0,10.0,564,8432,0.00,2.20,0.00,0.000,6,0.000,0.044,2902,1971,2029,0,0,0,0,0,0
$GC,8594,0.79,188.9,9.2,10.0,595,8601,0.00,2.20,0.00,0.000,4,0.000,0.052,2902,3375,2029,0,0,0,0,0,0
$GC,8619,0.79,188.9,6.5,10.3,599,8627,0.00,2.22,0.00,0.000,6,0.000,0.044,2911,1975,2029,0,0,0,0,0,0
$STATE,8654,end climb,SURFACE_DEPTH_REACHED
$STATE,8654,begin surface coast
$FINISH,0.4,1.012596
$STATE,8686,end surface coast,CONTROL_FINISHED_OK
$STATE,8686,begin surface
$SM_CCo,8704,50.70,0.449,0,0,1576,300.24
$SM_GC,1.05,0.00,0.00,50.70,0.000,0.000,0.449,25,1966,1576,-8.17,0.17,300.24
$IRIDIUM_FIX,2045.60,-15745.35,240702,202030
$TT8_MAMPS,0.028379
$HUMID,60.19
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.6,4.245
$10V_AH,10.6,4.615
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.675,79.075,279.825,50.700,0.000,33.514,35.249,149.009,19.000,0.000,21.025,1122.655,5142.448,403.136,1983.891,450.335,0.000,1090.097,0.000,1936.432,0.000,117.238,0.000
$DEVICE_MAMPS,233.168,68.263,794.612,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.374,350.410,1192.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34981,611
$CAP_FILE_SIZE,95039,0
$CFSIZE,260165632,252899328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,013755,2059.938,-15752.992,16,0.8,17,9.8