version: 66.06
glider: 523
mission: 4
dive: 373
start: 6 3 113 11 27 4
data:
$ID,523
$MISSION,4
$DIVE,373
$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,-43233.234
$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,29
$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
$GPS1,111231,2100.291,-15753.130,13,1.0,14,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.3
$GPS2,112647,2100.399,-15753.234,15,1.0,15,9.8
$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,304.1,21181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-73.22,0.000,6,0.000,0.000,30,1974,3495,0,0,0,0,0,0
$GC,99,-0.74,-146.0,4.2,-7.2,12,114,9.62,2.28,0.00,0.000,4,0.226,0.045,2414,544,3496,0,0,0,0,0,0
$GC,357,-0.74,-146.0,58.3,-18.5,59,362,0.00,2.17,0.00,0.000,6,0.000,0.035,2406,1962,3497,0,0,0,0,0,0
$GC,691,-0.74,-146.0,107.7,-14.3,102,695,0.00,2.28,0.00,0.000,4,0.000,0.051,2406,541,3498,0,0,0,0,0,0
$GC,866,-0.74,-146.0,132.0,-13.9,117,870,0.00,2.15,0.00,0.000,6,0.000,0.033,2396,1963,3498,0,0,0,0,0,0
$GC,1194,-0.74,-146.0,171.1,-10.1,147,1198,0.00,2.25,0.00,0.000,4,0.000,0.050,2396,537,3499,0,0,0,0,0,0
$GC,1228,-0.74,-146.0,175.3,-12.8,149,1236,0.10,2.17,0.00,0.000,6,0.138,0.035,2420,1954,3500,0,0,0,0,0,0
$GC,1552,-0.74,-146.0,203.8,-7.9,178,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1954,3500,0,0,0,0,0,0
$GC,1862,-0.74,-146.0,229.7,-8.2,193,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1954,3500,0,0,0,0,0,0
$GC,2171,-0.74,-146.0,256.7,-9.9,208,2175,0.00,2.17,0.00,0.000,4,0.000,0.056,2410,3361,3500,0,0,0,0,0,0
$GC,2237,-0.74,-146.0,263.5,-9.4,211,2241,0.00,2.22,0.00,0.000,6,0.000,0.044,2411,1949,3500,0,0,0,0,0,0
$GC,2559,-0.74,-146.0,292.0,-8.7,227,2563,0.00,2.22,0.00,0.000,4,0.000,0.054,2411,544,3500,0,0,0,0,0,0
$GC,2668,-0.74,-146.0,301.5,-8.7,232,2672,0.00,2.15,0.00,0.000,6,0.000,0.036,2401,1962,3499,0,0,0,0,0,0
$GC,3014,-0.74,-146.0,331.3,-8.6,241,3018,0.00,2.20,0.00,0.000,4,0.000,0.058,2391,3358,3498,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,338.4,-9.4,242,3091,0.12,2.22,0.00,0.000,6,0.147,0.044,2426,1947,3498,0,0,0,0,0,0
$GC,3421,-0.74,-146.0,362.5,-6.7,250,3424,0.00,2.25,0.00,0.000,4,0.000,0.060,2426,541,3495,0,0,0,0,0,0
$GC,3541,-0.74,-146.0,372.0,-8.1,252,3545,0.00,2.15,0.00,0.000,6,0.000,0.038,2418,1954,3495,0,0,0,0,0,0
$GC,3878,-0.74,-146.0,398.5,-8.0,261,3882,0.00,2.30,0.00,0.000,4,0.000,0.058,2418,541,3493,0,0,0,0,0,0
$GC,4063,-0.74,-146.0,413.8,-7.7,265,4067,0.00,2.17,0.00,0.000,6,0.000,0.041,2409,1956,3490,0,0,0,0,0,0
$GC,4378,-0.74,-146.0,435.1,-6.9,273,4382,0.00,2.22,0.00,0.000,4,0.000,0.060,2399,3361,3488,0,0,0,0,0,0
$GC,4440,-0.74,-146.0,439.4,-7.0,274,4444,0.00,2.22,0.00,0.000,6,0.000,0.046,2400,1950,3488,0,0,0,0,0,0
$STATE,4658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4658,begin apogee
$GC,4665,-0.17,0.0,451.9,5.6,280,4786,0.62,0.00,118.12,0.772,6,0.116,0.000,2600,1950,2900,0,0,0,0,0,0
$STATE,4787,end apogee,CONTROL_FINISHED_OK
$STATE,4787,begin climb
$GC,4790,0.74,146.0,451.6,0.0,283,4925,0.82,2.42,125.00,0.743,4,0.069,0.057,2896,3379,2303,0,0,0,0,0,0
$GC,4970,0.74,146.0,428.6,16.7,287,4974,0.00,2.28,0.00,0.000,6,0.000,0.039,2906,1972,2299,0,0,0,0,0,0
$GC,5317,0.74,146.0,371.7,15.9,296,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1972,2296,0,0,0,0,0,0
$GC,5642,0.74,146.0,320.9,14.9,304,5646,0.00,2.22,0.00,0.000,4,0.000,0.054,2916,565,2292,0,0,0,0,0,0
$GC,5658,0.74,146.0,318.5,14.3,304,5663,0.00,2.20,0.00,0.000,6,0.000,0.036,2916,1995,2292,0,0,0,0,0,0
$GC,5989,0.74,146.0,273.4,13.6,317,5993,0.00,2.20,0.00,0.000,4,0.000,0.051,2916,3388,2291,0,0,0,0,0,0
$GC,6169,0.74,146.0,247.7,15.3,325,6173,0.00,2.20,0.00,0.000,6,0.000,0.038,2926,1964,2289,0,0,0,0,0,0
$GC,6490,0.74,146.0,202.4,14.1,341,6494,0.00,2.22,0.00,0.000,4,0.000,0.049,2925,3385,2288,0,0,0,0,0,0
$GC,6575,0.74,146.0,190.7,14.1,348,6580,0.15,2.17,0.00,0.000,6,0.149,0.039,2894,1981,2288,0,0,0,0,0,0
$GC,6902,0.74,146.0,156.3,10.6,378,6906,0.00,2.20,0.00,0.000,4,0.000,0.049,2894,3382,2287,0,0,0,0,0,0
$GC,6934,0.74,146.0,152.4,11.0,380,6941,0.00,2.25,0.00,0.000,6,0.000,0.049,2901,1986,2287,0,0,0,0,0,0
$GC,7261,0.74,146.0,121.1,9.5,411,7265,0.00,2.25,0.00,0.000,4,0.000,0.057,2912,559,2287,0,0,0,0,0,0
$GC,7302,0.74,146.0,117.0,10.4,414,7307,0.00,2.17,0.00,0.000,6,0.000,0.037,2912,1980,2287,0,0,0,0,0,0
$GC,7629,0.74,146.0,80.8,10.0,444,7633,0.00,2.20,0.00,0.000,4,0.000,0.051,2912,3390,2287,0,0,0,0,0,0
$GC,7727,0.74,146.0,70.0,11.7,460,7735,0.00,2.25,0.00,0.000,6,0.000,0.043,2921,1969,2286,0,0,0,0,0,0
$GC,8064,0.80,197.4,45.8,6.9,521,8111,0.00,2.22,40.67,0.486,4,0.000,0.054,2930,572,2096,0,0,0,0,0,0
$GC,8160,0.82,210.3,38.5,8.5,537,8177,0.00,2.17,12.68,0.446,6,0.000,0.035,2930,1981,2041,0,0,0,0,0,0
$GC,8496,0.82,210.3,10.1,9.8,600,8504,0.00,2.20,0.00,0.000,4,0.000,0.051,2930,3376,2038,0,0,0,0,0,0
$STATE,8561,end climb,SURFACE_DEPTH_REACHED
$STATE,8561,begin surface coast
$FINISH,0.5,1.023015
$STATE,8583,end surface coast,CONTROL_FINISHED_OK
$STATE,8583,begin surface
$SM_CCo,8604,33.47,0.432,0,0,1738,285.03
$SM_GC,1.35,0.00,0.00,33.47,0.000,0.000,0.432,44,1935,1738,-8.18,-0.62,285.03
$IRIDIUM_FIX,2054.83,-15751.76,280802,111129
$TT8_MAMPS,0.028379
$HUMID,64.72
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.6,30.652
$10V_AH,10.4,33.582
$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,18.825,79.950,296.475,33.475,0.000,81.678,117.575,387.415,19.000,0.000,16.222,1117.179,5161.058,367.934,2002.085,844.902,0.000,1068.930,0.000,1952.266,0.000,121.452,0.000
$DEVICE_MAMPS,226.265,59.826,771.602,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.375,351.602,1209.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34965,616
$CAP_FILE_SIZE,101430,0
$CFSIZE,260165632,237428736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,135223,2100.939,-15754.294,41,0.9,41,9.8