version: 66.06
glider: 523
mission: 4
dive: 238
start: 5 20 113 2 51 47
data:
$ID,523
$MISSION,4
$DIVE,238
$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,-40554.156
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,024558,2059.415,-15750.135,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.2
$GPS2,025130,2059.438,-15750.081,14,1.4,14,9.8
$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,298.7,26456,-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,-76.07,0.000,2,0.000,0.000,52,1977,3361,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.0,12,113,9.45,2.25,-0.77,0.000,4,0.232,0.061,2381,3378,3398,0,0,0,0,0,0
$GC,159,-0.74,-146.0,19.7,-21.1,22,166,0.00,2.28,0.00,0.000,6,0.000,0.043,2381,1962,3399,0,0,0,0,0,0
$GC,329,-0.74,-146.0,47.1,-14.7,53,335,0.00,2.28,0.00,0.000,4,0.000,0.059,2381,540,3400,0,0,0,0,0,0
$GC,408,-0.74,-146.0,60.6,-16.5,67,414,0.12,2.20,0.00,0.000,6,0.181,0.038,2402,1966,3400,0,0,0,0,0,0
$GC,744,-0.74,-146.0,110.5,-11.5,109,748,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,547,3401,0,0,0,0,0,0
$GC,894,-0.74,-146.0,129.6,-12.4,122,901,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1963,3402,0,0,0,0,0,0
$GC,1229,-0.74,-146.0,170.5,-12.7,153,1233,0.00,2.20,0.00,0.000,4,0.000,0.056,2383,3365,3402,0,0,0,0,0,0
$GC,1292,-0.74,-146.0,178.9,-13.6,158,1296,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1955,3403,0,0,0,0,0,0
$GC,1613,-0.74,-146.0,217.0,-11.0,181,1617,0.00,2.20,0.00,0.000,4,0.000,0.052,2383,543,3404,0,0,0,0,0,0
$GC,1702,-0.74,-146.0,226.6,-10.1,185,1706,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1965,3404,0,0,0,0,0,0
$GC,2026,-0.74,-146.0,253.8,-8.3,201,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,3404,0,0,0,0,0,0
$GC,2335,-0.74,-146.0,284.2,-9.0,216,2340,0.00,2.25,0.00,0.000,4,0.000,0.054,2374,550,3404,0,0,0,0,0,0
$GC,2396,-0.74,-146.0,289.3,-7.5,218,2402,0.12,2.17,0.00,0.000,6,0.167,0.039,2398,1968,3404,0,0,0,0,0,0
$GC,2732,-0.74,-146.0,314.1,-8.4,231,2736,0.00,2.20,0.00,0.000,4,0.000,0.058,2389,3373,3404,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,325.2,-9.8,233,2857,0.00,2.22,0.00,0.000,6,0.000,0.043,2389,1949,3403,0,0,0,0,0,0
$GC,3190,-0.74,-146.0,357.1,-9.7,242,3194,0.00,2.22,0.00,0.000,4,0.000,0.060,2389,553,3402,0,0,0,0,0,0
$GC,3353,-0.74,-146.0,373.0,-8.6,245,3357,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1966,3401,0,0,0,0,0,0
$GC,3687,-0.74,-146.0,397.2,-7.2,253,3691,0.00,2.28,0.00,0.000,4,0.000,0.059,2379,554,3400,0,0,0,0,0,0
$GC,3779,-0.74,-146.0,404.4,-7.7,255,3783,0.12,2.17,0.00,0.000,6,0.170,0.044,2402,1956,3398,0,0,0,0,0,0
$GC,4102,-0.74,-146.0,425.4,-6.6,263,4106,0.00,2.25,0.00,0.000,4,0.000,0.062,2394,3373,3397,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,431.7,-6.7,265,4191,0.00,2.22,0.00,0.000,6,0.000,0.045,2394,1953,3396,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4481,-0.17,0.0,450.3,6.2,272,4603,0.60,0.00,118.75,0.776,6,0.124,0.000,2586,1953,2800,0,0,0,0,0,0
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4606,0.74,146.0,450.0,0.0,275,4741,0.82,2.45,125.10,0.746,4,0.079,0.057,2871,3384,2202,0,0,0,0,0,0
$GC,4764,0.74,146.0,429.8,16.0,278,4769,0.00,2.33,0.00,0.000,6,0.000,0.050,2881,1981,2200,0,0,0,0,0,0
$GC,5095,0.74,146.0,379.8,14.2,287,5099,0.00,2.33,0.00,0.000,4,0.000,0.072,2892,563,2196,0,0,0,0,0,0
$GC,5139,0.74,146.0,373.4,15.5,288,5143,0.00,2.25,0.00,0.000,6,0.000,0.045,2892,1985,2195,0,0,0,0,0,0
$GC,5457,0.74,146.0,327.7,14.5,296,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1986,2193,0,0,0,0,0,0
$GC,5763,0.74,146.0,282.7,15.2,306,5767,0.00,2.17,0.00,0.000,4,0.000,0.052,2891,3386,2192,0,0,0,0,0,0
$GC,5791,0.74,146.0,277.8,17.1,307,5795,0.00,2.22,0.00,0.000,6,0.000,0.042,2901,1966,2191,0,0,0,0,0,0
$GC,6107,0.74,146.0,229.4,14.8,322,6111,0.00,2.20,0.00,0.000,4,0.000,0.058,2912,567,2190,0,0,0,0,0,0
$GC,6134,0.74,146.0,225.6,13.0,323,6139,0.12,2.17,0.00,0.000,6,0.148,0.038,2878,1982,2189,0,0,0,0,0,0
$GC,6463,0.74,146.0,190.7,9.5,343,6467,0.00,2.15,0.00,0.000,4,0.000,0.052,2878,3385,2188,0,0,0,0,0,0
$GC,6525,0.74,146.0,183.3,11.5,348,6529,0.00,2.20,0.00,0.000,6,0.000,0.040,2887,1967,2187,0,0,0,0,0,0
$GC,6852,0.74,146.0,147.0,10.7,378,6856,0.00,2.17,0.00,0.000,4,0.000,0.057,2897,568,2187,0,0,0,0,0,0
$GC,6904,0.74,146.0,141.6,10.2,382,6908,0.00,2.15,0.00,0.000,6,0.000,0.038,2897,1974,2187,0,0,0,0,0,0
$GC,7231,0.74,146.0,109.7,10.0,412,7235,0.00,2.20,0.00,0.000,4,0.000,0.052,2897,3387,2187,0,0,0,0,0,0
$GC,7250,0.74,146.0,107.7,11.1,413,7254,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1974,2187,0,0,0,0,0,0
$GC,7580,0.74,146.0,72.7,10.2,449,7585,0.00,2.20,0.00,0.000,4,0.000,0.055,2915,561,2186,0,0,0,0,0,0
$GC,7659,0.74,146.0,63.9,10.9,463,7665,0.12,2.15,0.00,0.000,6,0.133,0.036,2879,1975,2187,0,0,0,0,0,0
$GC,7993,0.78,180.1,33.4,7.6,524,8028,0.00,2.25,26.77,0.476,4,0.000,0.050,2879,3377,2064,0,0,0,0,0,0
$GC,8085,0.78,180.1,25.3,10.3,540,8092,0.00,2.22,0.00,0.000,6,0.000,0.038,2886,1971,2063,0,0,0,0,0,0
$GC,8254,0.80,199.1,9.2,8.2,571,8282,0.00,2.30,17.08,0.441,4,0.000,0.054,2896,562,1985,0,0,0,0,0,0
$STATE,8328,end climb,SURFACE_DEPTH_REACHED
$STATE,8328,begin surface coast
$FINISH,1.9,1.023052
$STATE,8342,end surface coast,CONTROL_FINISHED_OK
$STATE,8342,begin surface
$SM_CCo,8362,50.30,0.443,0,0,1575,300.24
$SM_GC,1.37,0.00,0.00,50.30,0.000,0.000,0.443,52,1964,1575,-8.09,0.11,300.24
$IRIDIUM_FIX,2047.91,-15745.35,140802,000009
$TT8_MAMPS,0.028379
$HUMID,62.48
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,19.602
$10V_AH,10.5,21.451
$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,18.750,88.900,287.700,50.300,0.000,24.141,38.934,143.685,19.000,0.000,15.226,1082.900,4923.485,392.154,1899.810,446.865,0.000,1073.962,0.000,1857.195,0.000,121.682,0.000
$DEVICE_MAMPS,231.634,72.098,776.204,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.659,337.796,1153.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31789,586
$CAP_FILE_SIZE,95099,0
$CFSIZE,260165632,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,051253,2100.335,-15750.801,14,1.5,14,9.8