version: 66.06
glider: 523
mission: 4
dive: 370
start: 6 3 113 3 35 33
data:
$ID,523
$MISSION,4
$DIVE,370
$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,285
$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,-43178.312
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,031904,2058.524,-15749.991,177,0.9,177,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.5
$GPS2,033517,2058.644,-15750.063,20,0.9,20,9.8
$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,301.1,27418,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,2,0.000,0.000,34,1968,3423,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.4,-5.3,11,113,9.55,2.22,-1.52,0.000,4,0.225,0.065,2403,3355,3499,0,0,0,0,0,0
$GC,322,-0.74,-146.0,51.0,-16.1,53,328,0.00,2.22,0.00,0.000,6,0.000,0.044,2403,1953,3500,0,0,0,0,0,0
$GC,654,-0.74,-146.0,99.0,-13.5,101,661,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,546,3500,0,0,0,0,0,0
$GC,848,-0.74,-146.0,126.4,-13.5,118,856,0.00,2.15,0.00,0.000,6,0.000,0.032,2394,1957,3501,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,162.3,-11.3,149,1179,0.00,2.17,0.00,0.000,4,0.000,0.054,2383,3358,3501,0,0,0,0,0,0
$GC,1215,-0.74,-146.0,166.9,-11.0,152,1220,0.15,2.22,0.00,0.000,6,0.152,0.044,2424,1947,3501,0,0,0,0,0,0
$GC,1542,-0.74,-146.0,199.1,-9.6,182,1546,0.00,2.20,0.00,0.000,4,0.000,0.051,2425,546,3502,0,0,0,0,0,0
$GC,1802,-0.74,-146.0,226.2,-10.3,193,1808,0.00,2.12,0.00,0.000,6,0.000,0.031,2417,1962,3502,0,0,0,0,0,0
$GC,2120,-0.74,-146.0,255.0,-8.5,209,2127,0.00,2.22,0.00,0.000,4,0.000,0.051,2416,544,3502,0,0,0,0,0,0
$GC,2200,-0.74,-146.0,263.0,-10.2,212,2204,0.00,2.15,0.00,0.000,6,0.000,0.035,2407,1965,3502,0,0,0,0,0,0
$GC,2518,-0.74,-146.0,287.2,-6.7,227,2522,0.00,2.25,0.00,0.000,4,0.000,0.054,2407,547,3502,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,304.5,-9.0,235,2717,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1966,3501,0,0,0,0,0,0
$GC,3058,-0.74,-146.0,331.7,-8.1,244,3062,0.00,2.17,0.00,0.000,4,0.000,0.053,2387,3364,3499,0,0,0,0,0,0
$GC,3166,-0.74,-146.0,341.2,-8.1,246,3170,0.12,2.20,0.00,0.000,6,0.152,0.039,2421,1944,3499,0,0,0,0,0,0
$GC,3516,-0.74,-146.0,368.3,-7.5,255,3520,0.00,2.22,0.00,0.000,4,0.000,0.058,2421,544,3497,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,378.7,-8.1,257,3652,0.00,2.15,0.00,0.000,6,0.000,0.037,2413,1952,3496,0,0,0,0,0,0
$GC,3978,-0.74,-146.0,402.9,-6.9,266,3982,0.00,2.20,0.00,0.000,4,0.000,0.057,2404,3368,3492,0,0,0,0,0,0
$GC,4029,-0.74,-146.0,406.4,-6.5,267,4033,0.00,2.20,0.00,0.000,6,0.000,0.040,2404,1954,3493,0,0,0,0,0,0
$GC,4344,-0.74,-146.0,427.3,-6.5,275,4348,0.00,2.25,0.00,0.000,4,0.000,0.062,2404,552,3490,0,0,0,0,0,0
$GC,4541,-0.74,-146.0,442.4,-8.3,279,4546,0.00,2.17,0.00,0.000,6,0.000,0.040,2394,1963,3488,0,0,0,0,0,0
$STATE,4638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4638,begin apogee
$GC,4645,-0.17,0.0,450.0,7.7,282,4767,0.65,0.00,118.53,0.770,6,0.120,0.000,2601,1963,2900,0,0,0,0,0,0
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4770,0.74,146.0,451.8,0.0,285,4905,0.82,2.35,125.03,0.742,4,0.071,0.058,2895,3383,2302,0,0,0,0,0,0
$GC,4956,0.74,146.0,430.8,16.0,289,4960,0.00,2.30,0.00,0.000,6,0.000,0.045,2905,1988,2299,0,0,0,0,0,0
$GC,5298,0.74,146.0,381.1,14.4,298,5302,0.00,2.33,0.00,0.000,4,0.000,0.067,2915,569,2296,0,0,0,0,0,0
$GC,5354,0.74,146.0,372.5,15.5,299,5358,0.00,2.22,0.00,0.000,6,0.000,0.042,2915,1980,2294,0,0,0,0,0,0
$GC,5701,0.74,146.0,321.8,14.0,308,5705,0.00,2.25,0.00,0.000,4,0.000,0.061,2915,3393,2292,0,0,0,0,0,0
$GC,5865,0.74,146.0,298.2,15.1,311,5870,0.00,2.22,0.00,0.000,6,0.000,0.042,2925,1976,2291,0,0,0,0,0,0
$GC,6181,0.74,146.0,251.0,15.3,326,6185,0.00,2.22,0.00,0.000,4,0.000,0.058,2936,559,2289,0,0,0,0,0,0
$GC,6202,0.74,146.0,247.5,15.4,327,6207,0.15,2.20,0.00,0.000,6,0.146,0.038,2894,1987,2288,0,0,0,0,0,0
$GC,6529,0.74,146.0,205.5,11.6,343,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1987,2287,0,0,0,0,0,0
$GC,6848,0.74,149.6,174.1,8.9,370,6851,0.00,2.15,0.00,0.000,4,0.000,0.052,2894,3387,2286,0,0,0,0,0,0
$GC,6955,0.74,149.6,162.5,11.4,379,6963,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1974,2287,0,0,0,0,0,0
$GC,7282,0.74,149.6,130.4,10.5,410,7286,0.00,2.20,0.00,0.000,4,0.000,0.057,2913,562,2286,0,0,0,0,0,0
$GC,7334,0.74,149.6,125.0,10.4,414,7338,0.00,2.17,0.00,0.000,6,0.000,0.037,2913,1992,2286,0,0,0,0,0,0
$GC,7661,0.75,160.8,94.7,8.6,444,7677,0.00,2.33,10.90,0.495,4,0.000,0.065,2922,564,2243,0,0,0,0,0,0
$GC,7924,0.75,160.8,72.5,9.7,475,7929,0.00,2.20,0.00,0.000,6,0.000,0.041,2923,1980,2241,0,0,0,0,0,0
$GC,8256,0.86,244.4,47.9,5.6,536,8331,0.00,2.35,69.75,0.486,4,0.000,0.058,2933,568,1901,0,0,0,0,0,0
$GC,8402,0.86,244.4,36.5,10.1,561,8407,0.00,2.22,0.00,0.000,6,0.000,0.038,2932,1984,1900,0,0,0,0,0,0
$GC,8725,0.86,244.4,4.1,9.1,622,8733,0.00,2.28,0.00,0.000,4,0.000,0.058,2932,3390,1897,0,0,0,0,0,0
$STATE,8739,end climb,SURFACE_DEPTH_REACHED
$STATE,8739,begin surface coast
$FINISH,0.6,1.022961
$STATE,8772,end surface coast,CONTROL_FINISHED_OK
$STATE,8772,begin surface
$SM_CCo,8793,19.10,0.418,0,0,1737,285.03
$SM_GC,1.07,0.00,0.00,19.10,0.000,0.000,0.418,39,1938,1737,-8.19,-0.51,285.03
$IRIDIUM_FIX,2052.52,-15754.77,280802,030338
$TT8_MAMPS,0.028379
$HUMID,63.46
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,30.378
$10V_AH,10.4,33.306
$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,18.900,84.375,324.200,19.100,0.000,102.634,155.048,358.262,19.250,0.000,20.586,1165.168,5138.679,377.957,2187.348,914.237,0.000,1152.264,0.000,2138.875,0.000,117.278,0.000
$DEVICE_MAMPS,224.731,67.496,770.068,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,427.385,357.763,1261.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34937,630
$CAP_FILE_SIZE,109574,0
$CFSIZE,260165632,237563904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,060352,2059.166,-15750.842,47,1.0,47,9.8