version: 66.06
glider: 523
mission: 4
dive: 279
start: 5 24 113 10 2 40
data:
$ID,523
$MISSION,4
$DIVE,279
$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,-41342.293
$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,25
$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
$GPS1,095635,2058.166,-15749.437,18,1.3,18,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.4
$GPS2,100224,2058.193,-15749.497,19,1.1,19,9.8
$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,301.1,28705,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,2,0.000,0.000,37,1975,3372,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-5.1,12,114,9.25,2.17,-0.52,0.000,4,0.221,0.060,2381,3366,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,57.3,-14.5,59,361,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,1952,3398,0,0,0,0,0,0
$GC,684,-0.74,-146.0,107.5,-14.3,103,688,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,544,3399,0,0,0,0,0,0
$GC,858,-0.74,-146.0,132.5,-12.6,118,863,0.12,2.15,0.00,0.000,6,0.168,0.034,2404,1966,3400,0,0,0,0,0,0
$GC,1186,-0.74,-146.0,167.4,-10.4,148,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3401,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,197.4,-10.1,178,1508,0.00,2.25,0.00,0.000,4,0.000,0.051,2405,549,3401,0,0,0,0,0,0
$GC,1760,-0.74,-146.0,226.1,-11.2,190,1766,0.00,2.12,0.00,0.000,6,0.000,0.033,2396,1962,3401,0,0,0,0,0,0
$GC,2079,-0.74,-146.0,256.0,-9.5,206,2083,0.00,2.22,0.00,0.000,4,0.000,0.050,2396,550,3401,0,0,0,0,0,0
$GC,2134,-0.74,-146.0,261.2,-8.8,208,2140,0.00,2.12,0.00,0.000,6,0.000,0.035,2386,1960,3401,0,0,0,0,0,0
$GC,2452,-0.74,-146.0,286.9,-8.5,224,2456,0.00,2.30,0.00,0.000,4,0.000,0.051,2386,544,3401,0,0,0,0,0,0
$GC,2630,-0.74,-146.0,304.1,-7.9,232,2634,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1959,3401,0,0,0,0,0,0
$GC,2952,-0.74,-146.0,327.4,-6.4,240,2956,0.00,2.28,0.00,0.000,4,0.000,0.053,2377,544,3401,0,0,0,0,0,0
$GC,3013,-0.74,-146.0,331.8,-6.7,241,3018,0.12,2.15,0.00,0.000,6,0.159,0.037,2401,1958,3401,0,0,0,0,0,0
$GC,3357,-0.74,-146.0,353.8,-7.5,250,3362,0.00,2.25,0.00,0.000,4,0.000,0.054,2401,547,3400,0,0,0,0,0,0
$GC,3425,-0.74,-146.0,359.8,-8.9,251,3430,0.00,2.15,0.00,0.000,6,0.000,0.038,2393,1959,3399,0,0,0,0,0,0
$GC,3767,-0.74,-146.0,383.4,-6.5,260,3771,0.00,2.22,0.00,0.000,4,0.000,0.058,2382,3369,3397,0,0,0,0,0,0
$GC,3851,-0.74,-146.0,389.2,-7.0,261,3857,0.00,2.22,0.00,0.000,6,0.000,0.043,2382,1952,3397,0,0,0,0,0,0
$GC,4185,-0.74,-146.0,411.3,-6.6,270,4189,0.00,2.22,0.00,0.000,4,0.000,0.061,2382,547,3394,0,0,0,0,0,0
$GC,4219,-0.74,-146.0,414.0,-7.2,270,4224,0.00,2.17,0.00,0.000,6,0.000,0.040,2373,1967,3394,0,0,0,0,0,0
$GC,4551,-0.74,-146.0,437.1,-7.2,279,4555,0.00,2.17,0.00,0.000,4,0.000,0.060,2363,3366,3392,0,0,0,0,0,0
$GC,4637,-0.74,-146.0,443.6,-7.6,281,4642,0.15,2.22,0.00,0.000,6,0.141,0.043,2404,1946,3392,0,0,0,0,0,0
$STATE,4755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4755,begin apogee
$GC,4762,-0.17,0.0,451.2,6.0,284,4884,0.55,0.00,118.90,0.773,6,0.116,0.000,2586,1946,2799,0,0,0,0,0,0
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4888,0.74,146.0,451.9,0.0,287,5019,0.82,0.00,125.47,0.745,6,0.074,0.000,2874,1946,2204,0,0,0,0,0,0
$GC,5334,0.74,146.0,395.2,14.2,298,5338,0.00,2.33,0.00,0.000,4,0.000,0.058,2874,3383,2196,0,0,0,0,0,0
$GC,5362,0.74,146.0,390.8,14.8,298,5366,0.00,2.28,0.00,0.000,6,0.000,0.051,2883,1981,2195,0,0,0,0,0,0
$GC,5693,0.74,146.0,343.0,14.4,306,5697,0.00,2.25,0.00,0.000,4,0.000,0.059,2894,559,2193,0,0,0,0,0,0
$GC,5738,0.74,146.0,336.3,14.3,307,5742,0.00,2.20,0.00,0.000,6,0.000,0.038,2894,1977,2192,0,0,0,0,0,0
$GC,6057,0.74,146.0,289.5,14.6,316,6061,0.00,2.20,0.00,0.000,4,0.000,0.053,2894,3389,2192,0,0,0,0,0,0
$GC,6141,0.74,146.0,277.2,13.9,320,6146,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,1966,2190,0,0,0,0,0,0
$GC,6468,0.74,146.0,233.7,12.7,336,6472,0.00,2.20,0.00,0.000,4,0.000,0.058,2914,569,2189,0,0,0,0,0,0
$GC,6513,0.74,146.0,227.8,13.9,338,6518,0.12,2.17,0.00,0.000,6,0.143,0.038,2880,1983,2188,0,0,0,0,0,0
$GC,6839,0.74,146.0,191.7,13.2,357,6843,0.00,2.15,0.00,0.000,4,0.000,0.051,2881,3387,2188,0,0,0,0,0,0
$GC,6902,0.74,146.0,183.6,12.4,362,6906,0.00,2.20,0.00,0.000,6,0.000,0.038,2889,1965,2187,0,0,0,0,0,0
$GC,7230,0.74,146.0,143.2,14.5,392,7234,0.00,2.20,0.00,0.000,4,0.000,0.056,2899,559,2187,0,0,0,0,0,0
$GC,7335,0.74,146.0,130.1,12.6,401,7339,0.00,2.17,0.00,0.000,6,0.000,0.037,2899,1981,2187,0,0,0,0,0,0
$GC,7662,0.74,146.0,94.7,10.4,431,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1982,2186,0,0,0,0,0,0
$GC,7983,0.76,164.9,64.8,8.2,477,8007,0.00,2.22,14.52,0.486,4,0.000,0.050,2899,3372,2126,0,0,0,0,0,0
$GC,8110,0.78,177.1,54.6,8.5,499,8127,0.00,2.20,11.62,0.463,6,0.000,0.039,2907,1970,2077,0,0,0,0,0,0
$GC,8451,0.78,177.1,23.8,9.1,562,8459,0.00,2.25,0.00,0.000,4,0.000,0.056,2911,571,2075,0,0,0,0,0,0
$GC,8488,0.78,177.1,20.4,9.3,568,8496,0.00,2.17,0.00,0.000,6,0.000,0.036,2911,1976,2075,0,0,0,0,0,0
$GC,8656,0.78,177.1,4.7,10.5,599,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1977,2075,0,0,0,0,0,0
$STATE,8674,end climb,SURFACE_DEPTH_REACHED
$STATE,8674,begin surface coast
$FINISH,0.7,1.022980
$STATE,8707,end surface coast,CONTROL_FINISHED_OK
$STATE,8707,begin surface
$SM_CCo,8725,56.83,0.439,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,56.83,0.000,0.000,0.439,32,1980,1575,-8.16,0.59,300.24
$IRIDIUM_FIX,2057.14,-15756.91,180802,070716
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,445.2,55.6
$24V_AH,24.7,22.848
$10V_AH,10.5,25.071
$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,18.450,79.400,270.525,56.825,0.000,30.670,32.271,156.062,19.250,0.000,20.226,1122.549,5160.295,387.569,2003.000,457.648,0.000,1088.459,0.000,1952.469,0.000,120.623,0.000
$DEVICE_MAMPS,220.896,61.360,773.136,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.974,342.438,1173.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34934,608
$CAP_FILE_SIZE,97033,0
$CFSIZE,260165632,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,123021,2058.581,-15750.632,24,1.1,39,9.8