version: 66.06
glider: 523
mission: 4
dive: 280
start: 5 24 113 12 36 23
data:
$ID,523
$MISSION,4
$DIVE,280
$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,-41358.699
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,123021,2058.581,-15750.632,24,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,123606,2058.608,-15750.674,15,0.9,15,9.8
$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,302.7,26676,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.78,0.000,2,0.000,0.000,32,1981,3390,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.6,-5.5,12,112,9.32,2.15,0.00,0.000,4,0.222,0.044,2385,3372,3391,0,0,0,0,0,0
$GC,353,-0.74,-146.0,58.4,-16.8,59,359,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1961,3393,0,0,0,0,0,0
$GC,687,-0.74,-146.0,107.4,-14.7,103,691,0.00,2.22,0.00,0.000,4,0.000,0.055,2385,541,3395,0,0,0,0,0,0
$GC,795,-0.74,-146.0,124.1,-13.7,112,800,0.00,2.17,0.00,0.000,6,0.000,0.034,2376,1976,3395,0,0,0,0,0,0
$GC,1127,-0.74,-146.0,159.7,-10.9,143,1134,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3362,3396,0,0,0,0,0,0
$GC,1154,-0.74,-146.0,162.8,-11.5,145,1159,0.12,2.22,0.00,0.000,6,0.153,0.043,2398,1947,3395,0,0,0,0,0,0
$GC,1481,-0.74,-146.0,196.4,-9.4,175,1485,0.00,2.20,0.00,0.000,4,0.000,0.052,2399,543,3397,0,0,0,0,0,0
$GC,1721,-0.74,-146.0,221.7,-11.3,187,1726,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1970,3397,0,0,0,0,0,0
$GC,2048,-0.74,-146.0,254.7,-9.0,203,2053,0.00,2.17,0.00,0.000,4,0.000,0.054,2379,3366,3396,0,0,0,0,0,0
$GC,2211,-0.74,-146.0,269.1,-8.8,210,2215,0.00,2.20,0.00,0.000,6,0.000,0.042,2379,1959,3397,0,0,0,0,0,0
$GC,2534,-0.74,-146.0,294.1,-6.9,226,2538,0.00,2.22,0.00,0.000,4,0.000,0.054,2379,543,3397,0,0,0,0,0,0
$GC,2660,-0.74,-146.0,303.1,-7.4,230,2666,0.12,2.15,0.00,0.000,6,0.166,0.036,2404,1962,3396,0,0,0,0,0,0
$GC,2992,-0.74,-146.0,325.1,-7.0,239,2996,0.00,2.25,0.00,0.000,4,0.000,0.054,2404,552,3396,0,0,0,0,0,0
$GC,3020,-0.74,-146.0,327.6,-8.1,239,3024,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1963,3396,0,0,0,0,0,0
$GC,3358,-0.74,-146.0,347.7,-5.3,248,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1963,3395,0,0,0,0,0,0
$GC,3682,-0.74,-146.0,370.7,-7.7,256,3687,0.00,2.28,0.00,0.000,4,0.000,0.057,2396,552,3392,0,0,0,0,0,0
$GC,3750,-0.74,-146.0,376.3,-7.9,257,3754,0.00,2.15,0.00,0.000,6,0.000,0.041,2386,1960,3392,0,0,0,0,0,0
$GC,4093,-0.74,-146.0,401.2,-7.1,266,4097,0.00,2.20,0.00,0.000,4,0.000,0.058,2376,3367,3389,0,0,0,0,0,0
$GC,4183,-0.74,-146.0,408.9,-9.2,268,4187,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1961,3389,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,436.5,-8.4,276,4509,0.00,2.28,0.00,0.000,4,0.000,0.063,2376,542,3387,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,443.8,-8.4,278,4594,0.12,2.20,0.00,0.000,6,0.160,0.044,2400,1959,3386,0,0,0,0,0,0
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4716,-0.17,0.0,451.7,6.4,281,4837,0.55,0.00,117.88,0.775,6,0.116,0.000,2580,1960,2799,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4841,0.74,146.0,452.4,0.0,284,4978,0.85,2.42,125.30,0.746,4,0.076,0.060,2876,3381,2202,0,0,0,0,0,0
$GC,5023,0.74,146.0,429.3,16.3,288,5027,0.00,2.33,0.00,0.000,6,0.000,0.048,2884,1974,2200,0,0,0,0,0,0
$GC,5370,0.74,146.0,375.4,15.3,297,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1975,2195,0,0,0,0,0,0
$GC,5695,0.74,146.0,331.4,13.3,305,5699,0.00,2.22,0.00,0.000,4,0.000,0.058,2895,561,2192,0,0,0,0,0,0
$GC,5724,0.74,146.0,327.4,13.3,305,5728,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1988,2192,0,0,0,0,0,0
$GC,6036,0.74,146.0,283.7,13.5,315,6040,0.00,2.17,0.00,0.000,4,0.000,0.054,2895,3380,2191,0,0,0,0,0,0
$GC,6099,0.74,146.0,274.9,14.2,318,6103,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1970,2190,0,0,0,0,0,0
$GC,6425,0.74,146.0,235.9,11.7,334,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1969,2189,0,0,0,0,0,0
$GC,6735,0.74,146.0,198.4,13.1,349,6739,0.00,2.20,0.00,0.000,4,0.000,0.057,2914,564,2188,0,0,0,0,0,0
$GC,6786,0.74,146.0,191.9,13.1,353,6791,0.12,2.17,0.00,0.000,6,0.143,0.038,2879,1983,2188,0,0,0,0,0,0
$GC,7115,0.74,146.0,156.8,10.3,383,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1983,2187,0,0,0,0,0,0
$GC,7443,0.74,146.0,122.0,10.8,414,7447,0.00,2.15,0.00,0.000,4,0.000,0.051,2879,3384,2187,0,0,0,0,0,0
$GC,7528,0.74,146.0,112.4,11.1,421,7532,0.00,2.20,0.00,0.000,6,0.000,0.039,2887,1965,2187,0,0,0,0,0,0
$GC,7856,0.74,146.0,80.3,9.5,451,7860,0.00,2.17,0.00,0.000,4,0.000,0.054,2898,565,2187,0,0,0,0,0,0
$GC,7961,0.74,146.0,69.0,11.3,469,7966,0.00,2.15,0.00,0.000,6,0.000,0.035,2897,1977,2187,0,0,0,0,0,0
$GC,8292,0.78,181.4,36.2,7.6,530,8327,0.00,2.20,28.00,0.476,4,0.000,0.050,2897,3380,2059,0,0,0,0,0,0
$GC,8385,0.81,206.4,29.1,8.0,546,8412,0.00,2.22,21.88,0.459,6,0.000,0.038,2906,1979,1957,0,0,0,0,0,0
$GC,8571,0.81,206.4,12.8,9.5,580,8578,0.00,2.28,0.00,0.000,4,0.000,0.052,2916,563,1955,0,0,0,0,0,0
$GC,8607,0.81,206.4,9.3,10.0,586,8615,0.00,2.20,0.00,0.000,6,0.000,0.036,2916,1974,1955,0,0,0,0,0,0
$STATE,8672,end climb,SURFACE_DEPTH_REACHED
$STATE,8672,begin surface coast
$FINISH,0.4,1.023102
$STATE,8712,end surface coast,CONTROL_FINISHED_OK
$STATE,8712,begin surface
$SM_CCo,8730,42.88,0.436,0,0,1575,300.24
$SM_GC,1.51,0.00,0.00,42.88,0.000,0.000,0.436,38,1979,1575,-8.13,0.57,300.24
$IRIDIUM_FIX,2052.52,-15744.48,180802,101022
$TT8_MAMPS,0.027612
$HUMID,63.62
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,22.926
$10V_AH,10.5,25.159
$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,18.575,79.475,293.050,42.875,0.000,28.165,35.584,151.058,19.250,0.000,15.777,1114.104,5202.892,377.340,1974.488,447.980,0.000,1080.596,0.000,1925.688,0.000,119.445,0.000
$DEVICE_MAMPS,222.430,62.894,774.670,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.904,346.906,1186.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34947,605
$CAP_FILE_SIZE,95383,0
$CFSIZE,260165632,241905664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,150329,2059.207,-15751.924,14,1.4,14,9.8