version: 66.06
glider: 523
mission: 4
dive: 372
start: 6 3 113 8 48 18
data:
$ID,523
$MISSION,4
$DIVE,372
$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,-43216.383
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,084058,2059.763,-15751.925,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.9
$GPS2,084759,2059.770,-15751.993,16,1.0,16,9.8
$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,302.6,23542,-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,-70.00,0.000,2,0.000,0.000,32,1971,3410,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.5,-5.2,11,113,9.57,2.22,-1.77,0.000,4,0.228,0.063,2402,3355,3498,0,0,0,0,0,0
$GC,335,-0.74,-146.0,54.7,-17.4,55,340,0.00,2.25,0.00,0.000,6,0.000,0.044,2402,1946,3500,0,0,0,0,0,0
$GC,669,-0.74,-146.0,104.3,-14.6,101,674,0.00,2.25,0.00,0.000,4,0.000,0.055,2402,547,3501,0,0,0,0,0,0
$GC,833,-0.74,-146.0,129.4,-14.9,116,839,0.10,2.15,0.00,0.000,6,0.176,0.033,2417,1968,3501,0,0,0,0,0,0
$GC,1167,-0.74,-146.0,168.0,-10.9,147,1171,0.00,2.28,0.00,0.000,4,0.000,0.051,2417,545,3502,0,0,0,0,0,0
$GC,1286,-0.74,-146.0,182.1,-11.6,157,1290,0.00,2.12,0.00,0.000,6,0.000,0.033,2409,1966,3503,0,0,0,0,0,0
$GC,1607,-0.74,-146.0,213.4,-8.5,180,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1968,3503,0,0,0,0,0,0
$GC,1919,-0.74,-146.0,240.5,-8.0,195,1923,0.00,2.20,0.00,0.000,4,0.000,0.055,2399,3358,3503,0,0,0,0,0,0
$GC,1941,-0.74,-146.0,242.6,-7.7,196,1945,0.00,2.22,0.00,0.000,6,0.000,0.042,2399,1945,3503,0,0,0,0,0,0
$GC,2265,-0.74,-146.0,271.6,-9.0,212,2269,0.00,2.20,0.00,0.000,4,0.000,0.052,2399,544,3503,0,0,0,0,0,0
$GC,2501,-0.74,-146.0,296.3,-10.8,222,2507,0.12,2.15,0.00,0.000,6,0.158,0.035,2423,1969,3503,0,0,0,0,0,0
$GC,2836,-0.74,-146.0,322.3,-7.7,232,2840,0.00,2.28,0.00,0.000,4,0.000,0.054,2424,545,3502,0,0,0,0,0,0
$GC,2880,-0.74,-146.0,326.3,-8.5,233,2884,0.00,2.15,0.00,0.000,6,0.000,0.037,2415,1954,3502,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,348.9,-6.8,241,3203,0.00,2.25,0.00,0.000,4,0.000,0.056,2415,548,3501,0,0,0,0,0,0
$GC,3249,-0.74,-146.0,352.7,-7.7,242,3253,0.00,2.17,0.00,0.000,6,0.000,0.038,2406,1966,3500,0,0,0,0,0,0
$GC,3563,-0.74,-146.0,376.3,-7.9,250,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1966,3499,0,0,0,0,0,0
$GC,3888,-0.74,-146.0,400.7,-7.5,258,3892,0.00,2.33,0.00,0.000,4,0.000,0.058,2406,544,3497,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,422.2,-8.6,263,4140,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1965,3495,0,0,0,0,0,0
$GC,4481,-0.74,-146.0,446.0,-6.8,272,4485,0.00,2.20,0.00,0.000,4,0.000,0.061,2386,3365,3492,0,0,0,0,0,0
$GC,4521,-0.74,-146.0,448.9,-6.7,273,4526,0.12,2.25,0.00,0.000,6,0.149,0.046,2421,1949,3492,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4542,-0.17,0.0,450.0,6.6,273,4664,0.52,0.00,119.15,0.769,6,0.114,0.000,2598,1948,2900,0,0,0,0,0,0
$STATE,4665,end apogee,CONTROL_FINISHED_OK
$STATE,4665,begin climb
$GC,4668,0.74,146.0,450.3,0.0,276,4803,0.85,2.40,125.20,0.739,4,0.069,0.057,2898,3380,2304,0,0,0,0,0,0
$GC,4848,0.74,146.0,426.8,17.2,280,4852,0.00,2.30,0.00,0.000,6,0.000,0.047,2907,1983,2300,0,0,0,0,0,0
$GC,5195,0.74,146.0,375.2,14.2,289,5199,0.00,2.33,0.00,0.000,4,0.000,0.067,2916,559,2296,0,0,0,0,0,0
$GC,5274,0.74,146.0,364.2,13.6,290,5279,0.00,2.22,0.00,0.000,6,0.000,0.041,2916,1983,2295,0,0,0,0,0,0
$GC,5607,0.74,146.0,319.7,12.9,299,5610,0.00,2.22,0.00,0.000,4,0.000,0.058,2916,3389,2293,0,0,0,0,0,0
$GC,5737,0.74,146.0,300.3,14.4,302,5741,0.00,2.25,0.00,0.000,6,0.000,0.049,2925,1976,2292,0,0,0,0,0,0
$GC,6065,0.74,146.0,252.2,14.9,317,6069,0.00,2.20,0.00,0.000,4,0.000,0.059,2937,570,2290,0,0,0,0,0,0
$GC,6105,0.74,146.0,246.2,15.4,319,6110,0.15,2.20,0.00,0.000,6,0.146,0.043,2895,1983,2290,0,0,0,0,0,0
$GC,6432,0.74,146.0,206.9,10.4,335,6436,0.00,2.15,0.00,0.000,4,0.000,0.051,2894,3385,2289,0,0,0,0,0,0
$GC,6531,0.74,146.0,195.2,12.4,341,6539,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1969,2288,0,0,0,0,0,0
$GC,6858,0.74,146.0,160.7,9.4,372,6862,0.00,2.22,0.00,0.000,4,0.000,0.051,2902,3386,2288,0,0,0,0,0,0
$GC,6920,0.74,146.0,153.7,11.6,377,6924,0.00,2.20,0.00,0.000,6,0.000,0.041,2912,1968,2287,0,0,0,0,0,0
$GC,7247,0.74,146.0,120.4,9.3,407,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1968,2287,0,0,0,0,0,0
$GC,7568,0.74,146.0,91.2,10.9,437,7572,0.00,2.20,0.00,0.000,4,0.000,0.056,2923,573,2287,0,0,0,0,0,0
$GC,7653,0.74,146.0,81.8,9.9,444,7657,0.00,2.15,0.00,0.000,6,0.000,0.036,2922,1979,2287,0,0,0,0,0,0
$GC,7981,0.89,267.1,60.6,4.0,502,8092,0.00,2.40,97.93,0.499,4,0.000,0.061,2932,569,1810,0,0,0,0,0,0
$GC,8139,0.89,267.1,51.1,10.0,529,8144,0.00,2.22,0.00,0.000,6,0.000,0.040,2932,1976,1810,0,0,0,0,0,0
$GC,8465,0.89,267.1,14.1,11.7,590,8473,0.00,2.25,0.00,0.000,4,0.000,0.058,2932,3381,1810,0,0,0,0,0,0
$GC,8497,0.89,267.1,9.6,13.8,595,8505,0.00,2.25,0.00,0.000,6,0.000,0.044,2937,1980,1808,0,0,0,0,0,0
$STATE,8549,end climb,SURFACE_DEPTH_REACHED
$STATE,8549,begin surface coast
$FINISH,1.5,1.023008
$STATE,8571,end surface coast,CONTROL_FINISHED_OK
$STATE,8571,begin surface
$SM_CCo,8589,10.52,0.402,0,0,1737,285.03
$SM_GC,1.88,0.00,0.00,10.52,0.000,0.000,0.402,30,1973,1737,-8.22,0.48,285.03
$IRIDIUM_FIX,2050.21,-15717.48,280802,060602
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.6,30.555
$10V_AH,10.5,33.488
$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,18.875,80.275,342.275,10.525,0.000,29.160,43.596,217.585,19.250,0.000,17.377,1109.955,4971.752,381.532,2024.731,534.218,0.000,1110.635,0.000,1974.934,0.000,117.270,0.000
$DEVICE_MAMPS,227.799,67.496,768.534,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.152,336.298,1176.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34976,608
$CAP_FILE_SIZE,97605,0
$CFSIZE,260165632,237477888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,111231,2100.291,-15753.130,13,1.0,14,9.8