version: 66.06
glider: 523
mission: 4
dive: 198
start: 5 15 113 21 41 10
data:
$ID,523
$MISSION,4
$DIVE,198
$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,-39817.895
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,213436,2100.410,-15751.965,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.2
$GPS2,214054,2100.396,-15752.004,19,0.9,19,9.8
$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,300.4,22762,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.15,0.000,2,0.000,0.000,24,1974,3377,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-4.8,12,115,9.48,2.17,-0.40,0.000,4,0.229,0.061,2385,3369,3397,0,0,0,0,0,0
$GC,313,-0.74,-146.0,45.5,-16.7,51,319,0.00,2.22,0.00,0.000,6,0.000,0.043,2385,1957,3399,0,0,0,0,0,0
$GC,643,-0.74,-146.0,94.0,-14.5,103,648,0.00,2.22,0.00,0.000,4,0.000,0.056,2385,540,3400,0,0,0,0,0,0
$GC,725,-0.74,-146.0,106.8,-14.7,110,732,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1960,3400,0,0,0,0,0,0
$GC,1052,-0.74,-146.0,151.2,-11.3,141,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1960,3402,0,0,0,0,0,0
$GC,1380,-0.74,-146.0,190.4,-13.5,172,1384,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3360,3402,0,0,0,0,0,0
$GC,1433,-0.74,-146.0,198.0,-13.5,176,1440,0.10,2.25,0.00,0.000,6,0.131,0.047,2398,1963,3402,0,0,0,0,0,0
$GC,1749,-0.74,-146.0,229.8,-10.5,193,1754,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,548,3403,0,0,0,0,0,0
$GC,2002,-0.74,-146.0,256.3,-8.8,204,2006,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1974,3403,0,0,0,0,0,0
$GC,2325,-0.74,-146.0,281.7,-7.6,220,2329,0.00,2.30,0.00,0.000,4,0.000,0.054,2390,550,3403,0,0,0,0,0,0
$GC,2357,-0.74,-146.0,284.9,-9.2,221,2364,0.00,2.15,0.00,0.000,6,0.000,0.038,2380,1958,3402,0,0,0,0,0,0
$GC,2701,-0.74,-146.0,313.8,-8.4,234,2705,0.00,2.25,0.00,0.000,4,0.000,0.058,2380,554,3402,0,0,0,0,0,0
$GC,2796,-0.74,-146.0,322.3,-8.6,236,2800,0.12,2.17,0.00,0.000,6,0.172,0.040,2403,1970,3402,0,0,0,0,0,0
$GC,3110,-0.74,-146.0,342.9,-6.1,244,3115,0.00,2.30,0.00,0.000,4,0.000,0.060,2403,551,3402,0,0,0,0,0,0
$GC,3230,-0.74,-146.0,351.9,-8.2,246,3234,0.00,2.15,0.00,0.000,6,0.000,0.041,2396,1959,3400,0,0,0,0,0,0
$GC,3568,-0.74,-146.0,377.2,-7.6,255,3572,0.00,2.28,0.00,0.000,4,0.000,0.061,2396,553,3399,0,0,0,0,0,0
$GC,3688,-0.74,-146.0,386.5,-7.2,257,3692,0.00,2.17,0.00,0.000,6,0.000,0.043,2386,1965,3398,0,0,0,0,0,0
$GC,4021,-0.74,-146.0,410.6,-7.2,265,4025,0.00,2.17,0.00,0.000,4,0.000,0.056,2375,3367,3396,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,415.4,-7.3,266,4092,0.00,2.20,0.00,0.000,6,0.000,0.044,2376,1955,3396,0,0,0,0,0,0
$GC,4432,-0.74,-146.0,436.7,-6.1,275,4436,0.00,2.20,0.00,0.000,4,0.000,0.058,2376,550,3394,0,0,0,0,0,0
$GC,4529,-0.74,-146.0,444.3,-8.2,277,4534,0.12,2.17,0.00,0.000,6,0.167,0.042,2398,1970,3392,0,0,0,0,0,0
$STATE,4637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4637,begin apogee
$GC,4643,-0.17,0.0,452.1,6.9,280,4765,0.57,0.00,118.47,0.788,6,0.120,0.000,2587,1971,2799,0,0,0,0,0,0
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4766,begin climb
$GC,4768,0.74,146.0,454.0,0.0,283,4898,0.82,0.00,125.62,0.756,6,0.077,0.000,2870,1971,2204,0,0,0,0,0,0
$GC,5217,0.74,146.0,399.8,13.5,294,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1971,2196,0,0,0,0,0,0
$GC,5540,0.74,146.0,355.6,13.6,302,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1971,2193,0,0,0,0,0,0
$GC,5865,0.74,146.0,313.6,12.8,310,5869,0.00,2.30,0.00,0.000,4,0.000,0.058,2880,566,2192,0,0,0,0,0,0
$GC,5920,0.74,146.0,306.3,12.9,311,5924,0.00,2.20,0.00,0.000,6,0.000,0.045,2880,1971,2190,0,0,0,0,0,0
$GC,6236,0.74,146.0,268.7,12.2,325,6240,0.00,2.30,0.00,0.000,4,0.000,0.066,2890,561,2190,0,0,0,0,0,0
$GC,6264,0.74,146.0,265.1,12.3,326,6268,0.00,2.22,0.00,0.000,6,0.000,0.046,2890,1978,2190,0,0,0,0,0,0
$GC,6585,0.74,146.0,225.1,10.8,342,6588,0.00,2.17,0.00,0.000,4,0.000,0.052,2890,3385,2189,0,0,0,0,0,0
$GC,6618,0.74,146.0,221.5,10.8,343,6623,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1971,2188,0,0,0,0,0,0
$GC,6939,0.74,146.0,184.5,12.7,365,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1972,2188,0,0,0,0,0,0
$GC,7259,0.74,146.0,144.2,12.5,395,7263,0.00,2.22,0.00,0.000,4,0.000,0.050,2899,3396,2187,0,0,0,0,0,0
$GC,7311,0.74,146.0,137.2,13.6,399,7316,0.12,2.20,0.00,0.000,6,0.160,0.041,2874,1975,2186,0,0,0,0,0,0
$GC,7638,0.74,146.0,104.4,10.6,429,7642,0.00,2.20,0.00,0.000,4,0.000,0.058,2883,558,2186,0,0,0,0,0,0
$GC,7679,0.74,146.0,100.0,11.1,432,7684,0.00,2.17,0.00,0.000,6,0.000,0.038,2883,1984,2186,0,0,0,0,0,0
$GC,8011,0.74,152.1,69.6,8.8,473,8016,0.00,2.25,0.00,0.000,4,0.000,0.060,2893,566,2186,0,0,0,0,0,0
$GC,8058,0.74,152.1,65.4,9.3,481,8063,0.00,2.17,0.00,0.000,6,0.000,0.041,2893,1977,2186,0,0,0,0,0,0
$GC,8387,0.81,204.2,36.6,6.9,542,8441,0.00,2.25,46.05,0.488,4,0.000,0.048,2892,3387,1966,0,0,0,0,0,0
$GC,8471,0.81,204.2,29.1,10.4,556,8479,0.00,2.28,0.00,0.000,6,0.000,0.044,2900,1977,1965,0,0,0,0,0,0
$GC,8639,0.81,204.2,13.7,10.0,587,8646,0.00,2.28,0.00,0.000,4,0.000,0.056,2910,567,1964,0,0,0,0,0,0
$GC,8671,0.81,204.2,10.1,11.2,592,8679,0.00,2.20,0.00,0.000,6,0.000,0.038,2910,1971,1964,0,0,0,0,0,0
$STATE,8741,end climb,SURFACE_DEPTH_REACHED
$STATE,8741,begin surface coast
$FINISH,0.4,1.011215
$STATE,8774,end surface coast,CONTROL_FINISHED_OK
$STATE,8776,begin surface
$SM_CCo,8793,44.15,0.443,0,0,1575,300.24
$SM_GC,1.53,0.00,0.00,44.15,0.000,0.000,0.443,51,1981,1575,-8.08,0.59,300.24
$IRIDIUM_FIX,2047.91,-15743.21,090802,191901
$TT8_MAMPS,0.027612
$HUMID,62.16
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.7,16.380
$10V_AH,10.5,17.940
$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,18.675,79.725,290.150,44.150,0.000,27.219,43.223,174.383,19.000,0.000,20.054,1115.307,5269.345,406.845,1941.338,482.122,0.000,1085.398,0.000,1893.641,0.000,117.260,0.000
$DEVICE_MAMPS,228.566,65.962,787.709,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.806,340.617,1165.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34944,611
$CAP_FILE_SIZE,95075,0
$CFSIZE,260165632,245776384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,000934,2101.369,-15752.624,27,0.9,27,9.8