version: 66.06
glider: 523
mission: 4
dive: 47
start: 4 30 113 1 43 59
data:
$ID,523
$MISSION,4
$DIVE,47
$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,-36821.16
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,013755,2059.938,-15752.992,16,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.3
$GPS2,014343,2059.984,-15752.968,18,0.7,18,9.8
$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,304.7,22046,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.20,0.000,2,0.000,0.000,24,1966,3369,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.2,12,113,9.32,2.30,-0.57,0.000,4,0.227,0.063,2395,547,3397,0,0,0,0,0,0
$GC,314,-0.74,-146.0,49.3,-16.4,51,320,0.00,2.17,0.00,0.000,6,0.000,0.038,2387,1958,3399,0,0,0,0,0,0
$GC,644,-0.74,-146.0,101.4,-16.6,99,648,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,544,3400,0,0,0,0,0,0
$GC,756,-0.74,-146.0,120.2,-16.4,108,763,0.00,2.17,0.00,0.000,6,0.000,0.037,2377,1951,3400,0,0,0,0,0,0
$GC,1083,-0.74,-146.0,169.4,-14.0,139,1090,0.00,2.22,0.00,0.000,4,0.000,0.051,2377,543,3401,0,0,0,0,0,0
$GC,1298,-0.74,-146.0,195.9,-11.1,158,1306,0.10,2.17,0.00,0.000,6,0.141,0.036,2400,1963,3402,0,0,0,0,0,0
$GC,1626,-0.74,-146.0,221.8,-8.4,177,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1963,3403,0,0,0,0,0,0
$GC,1935,-0.74,-146.0,247.8,-8.8,192,1939,0.00,2.15,0.00,0.000,4,0.000,0.054,2391,3362,3402,0,0,0,0,0,0
$GC,2055,-0.74,-146.0,257.4,-8.2,197,2059,0.00,2.17,0.00,0.000,6,0.000,0.040,2391,1948,3403,0,0,0,0,0,0
$GC,2374,-0.74,-146.0,282.4,-7.4,212,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3402,0,0,0,0,0,0
$GC,2681,-0.74,-146.0,308.1,-9.0,225,2685,0.00,2.22,0.00,0.000,4,0.000,0.054,2381,3363,3402,0,0,0,0,0,0
$GC,2710,-0.74,-146.0,311.0,-9.6,225,2714,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1957,3402,0,0,0,0,0,0
$GC,3044,-0.74,-146.0,341.3,-8.9,233,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1957,3400,0,0,0,0,0,0
$GC,3368,-0.74,-146.0,364.9,-6.7,241,3373,0.00,2.20,0.00,0.000,4,0.000,0.060,2381,546,3398,0,0,0,0,0,0
$GC,3458,-0.74,-146.0,371.1,-6.9,243,3463,0.12,2.17,0.00,0.000,6,0.165,0.045,2406,1959,3397,0,0,0,0,0,0
$GC,3785,-0.74,-146.0,391.9,-6.8,251,3789,0.00,2.17,0.00,0.000,4,0.000,0.058,2396,3373,3395,0,0,0,0,0,0
$GC,3954,-0.74,-146.0,404.3,-6.7,254,3958,0.00,2.20,0.00,0.000,6,0.000,0.048,2396,1963,3394,0,0,0,0,0,0
$GC,4285,-0.74,-146.0,428.1,-7.4,262,4289,0.00,2.22,0.00,0.000,4,0.000,0.061,2397,543,3392,0,0,0,0,0,0
$GC,4418,-0.74,-146.0,439.2,-8.4,265,4422,0.00,2.20,0.00,0.000,6,0.000,0.047,2387,1966,3390,0,0,0,0,0,0
$STATE,4577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4577,begin apogee
$GC,4584,-0.17,0.0,451.9,7.6,269,4705,0.60,0.00,117.90,0.795,6,0.120,0.000,2584,1966,2800,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4708,0.74,146.0,454.1,0.0,272,4843,0.85,2.45,125.85,0.762,4,0.074,0.060,2885,565,2202,0,0,0,0,0,0
$GC,4867,0.74,146.0,438.5,13.7,276,4871,0.00,2.33,0.00,0.000,6,0.000,0.046,2885,1981,2200,0,0,0,0,0,0
$GC,5186,0.74,146.0,395.6,13.7,284,5190,0.00,2.30,0.00,0.000,4,0.000,0.059,2895,564,2195,0,0,0,0,0,0
$GC,5202,0.74,146.0,393.3,12.8,284,5206,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1979,2195,0,0,0,0,0,0
$GC,5544,0.74,146.0,344.4,14.6,293,5548,0.00,2.20,0.00,0.000,4,0.000,0.055,2894,3384,2193,0,0,0,0,0,0
$GC,5593,0.74,146.0,336.5,15.2,294,5597,0.00,2.22,0.00,0.000,6,0.000,0.045,2904,1975,2192,0,0,0,0,0,0
$GC,5908,0.74,146.0,285.3,15.9,304,5912,0.00,2.25,0.00,0.000,4,0.000,0.061,2914,557,2191,0,0,0,0,0,0
$GC,5970,0.74,146.0,276.7,13.5,307,5974,0.12,2.20,0.00,0.000,6,0.155,0.041,2881,1983,2190,0,0,0,0,0,0
$GC,6302,0.74,146.0,243.6,9.9,323,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1984,2189,0,0,0,0,0,0
$GC,6611,0.74,146.0,207.1,11.4,338,6615,0.00,2.17,0.00,0.000,4,0.000,0.054,2881,3383,2188,0,0,0,0,0,0
$GC,6666,0.74,146.0,200.6,11.8,340,6672,0.00,2.17,0.00,0.000,6,0.000,0.042,2889,1974,2187,0,0,0,0,0,0
$GC,6995,0.74,146.0,166.3,13.5,370,6999,0.00,2.22,0.00,0.000,4,0.000,0.060,2899,555,2187,0,0,0,0,0,0
$GC,7046,0.74,146.0,159.1,13.4,374,7050,0.00,2.17,0.00,0.000,6,0.000,0.039,2900,1977,2186,0,0,0,0,0,0
$GC,7374,0.74,146.0,119.9,12.7,404,7378,0.00,2.15,0.00,0.000,4,0.000,0.053,2899,3379,2186,0,0,0,0,0,0
$GC,7394,0.74,146.0,117.4,13.2,405,7399,0.12,2.17,0.00,0.000,6,0.160,0.041,2874,1971,2186,0,0,0,0,0,0
$GC,7721,0.76,161.5,84.9,8.4,435,7737,0.00,2.20,11.48,0.517,4,0.000,0.056,2883,563,2141,0,0,0,0,0,0
$GC,7822,0.76,161.5,75.4,10.0,447,7827,0.00,2.17,0.00,0.000,6,0.000,0.038,2883,1985,2139,0,0,0,0,0,0
$GC,8153,0.76,161.5,39.8,9.9,508,8160,0.00,2.28,0.00,0.000,4,0.000,0.056,2892,568,2139,0,0,0,0,0,0
$GC,8207,0.76,161.5,35.2,9.1,517,8212,0.00,2.15,0.00,0.000,6,0.000,0.037,2892,1979,2139,0,0,0,0,0,0
$GC,8529,0.77,175.4,5.5,8.5,578,8550,0.00,2.30,13.35,0.448,4,0.000,0.061,2900,575,2084,0,0,0,0,0,0
$STATE,8556,end climb,SURFACE_DEPTH_REACHED
$STATE,8556,begin surface coast
$FINISH,0.5,1.023326
$STATE,8584,end surface coast,CONTROL_FINISHED_OK
$STATE,8584,begin surface
$SM_CCo,8604,55.78,0.456,0,0,1575,300.24
$SM_GC,1.17,0.00,0.00,55.78,0.000,0.000,0.456,48,1989,1575,-8.10,0.82,300.24
$IRIDIUM_FIX,2050.21,-15720.50,240702,232346
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,4.325
$10V_AH,10.5,4.699
$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,18.525,79.700,268.575,55.775,0.000,33.566,42.610,147.323,19.250,0.000,19.025,1086.713,5193.858,397.502,1887.627,442.516,0.000,1054.958,0.000,1839.092,0.000,119.281,0.000
$DEVICE_MAMPS,227.032,62.894,794.612,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.699,336.344,1113.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31843,587
$CAP_FILE_SIZE,93111,0
$CFSIZE,260165632,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,040934,2100.271,-15754.100,36,0.7,36,9.8