version: 66.06
glider: 523
mission: 4
dive: 376
start: 6 3 113 19 2 52
data:
$ID,523
$MISSION,4
$DIVE,376
$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,140
$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,-43336.98
$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,2690
$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,24
$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
$GPS1,185219,2102.389,-15755.787,20,2.0,20,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.6
$GPS2,190233,2102.436,-15755.864,34,6.6,53,9.8
$SPEED_LIMITS,0.157,0.244
$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,305.8,15297,-17.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-136.3,0.0,0.0,0,88,0.00,0.00,-69.38,0.000,2,0.000,0.000,36,1939,3422,0,0,0,0,0,0
$GC,91,-0.75,-136.3,3.8,-5.8,11,113,9.65,2.33,-0.68,0.000,4,0.225,0.063,2426,3375,3458,0,0,0,0,0,0
$GC,284,-0.75,-136.3,42.8,-14.9,46,291,0.00,2.25,0.00,0.000,6,0.000,0.042,2427,1952,3459,0,0,0,0,0,0
$GC,624,-0.75,-136.3,89.4,-11.3,100,631,0.00,2.20,0.00,0.000,4,0.000,0.055,2426,541,3460,0,0,0,0,0,0
$GC,881,-0.75,-136.3,121.6,-12.5,123,886,0.12,2.17,0.00,0.000,6,0.160,0.032,2451,1983,3461,0,0,0,0,0,0
$GC,1208,-0.75,-136.3,148.9,-7.9,153,1212,0.00,2.25,0.00,0.000,4,0.000,0.051,2452,544,3462,0,0,0,0,0,0
$GC,1360,-0.75,-136.3,163.9,-10.3,166,1369,0.00,2.15,0.00,0.000,6,0.000,0.033,2443,1953,3462,0,0,0,0,0,0
$GC,1689,-0.75,-136.3,195.5,-8.2,197,1693,0.00,2.22,0.00,0.000,4,0.000,0.050,2443,551,3462,0,0,0,0,0,0
$GC,1742,-0.75,-136.3,200.0,-8.3,201,1746,0.00,2.10,0.00,0.000,6,0.000,0.033,2434,1960,3462,0,0,0,0,0,0
$GC,2065,-0.75,-136.3,223.8,-6.5,217,2069,0.00,2.17,0.00,0.000,4,0.000,0.053,2424,3352,3462,0,0,0,0,0,0
$GC,2099,-0.75,-136.3,226.2,-6.5,218,2104,0.00,2.17,0.00,0.000,6,0.000,0.041,2424,1959,3462,0,0,0,0,0,0
$GC,2417,-0.75,-136.3,247.3,-7.9,234,2420,0.00,2.20,0.00,0.000,4,0.000,0.051,2415,3352,3462,0,0,0,0,0,0
$GC,2467,-0.75,-136.3,251.6,-8.2,236,2472,0.12,2.17,0.00,0.000,6,0.140,0.044,2450,1956,3462,0,0,0,0,0,0
$GC,2785,-0.75,-136.3,272.4,-6.0,251,2789,0.00,2.20,0.00,0.000,4,0.000,0.053,2450,548,3461,0,0,0,0,0,0
$GC,2871,-0.75,-136.3,278.0,-6.9,255,2875,0.00,2.12,0.00,0.000,6,0.000,0.034,2443,1954,3462,0,0,0,0,0,0
$GC,3200,-0.75,-136.3,297.6,-5.7,271,3204,0.00,2.25,0.00,0.000,4,0.000,0.054,2443,542,3462,0,0,0,0,0,0
$GC,3408,-0.75,-136.3,311.8,-7.2,276,3412,0.00,2.15,0.00,0.000,6,0.000,0.036,2435,1960,3461,0,0,0,0,0,0
$GC,3745,-0.75,-136.3,334.2,-6.0,285,3749,0.00,2.28,0.00,0.000,4,0.000,0.057,2434,541,3460,0,0,0,0,0,0
$GC,3981,-0.75,-136.3,350.7,-7.8,290,3985,0.00,2.17,0.00,0.000,6,0.000,0.038,2426,1960,3458,0,0,0,0,0,0
$GC,4297,-0.75,-136.3,376.0,-8.4,298,4301,0.00,2.20,0.00,0.000,4,0.000,0.056,2416,3363,3456,0,0,0,0,0,0
$GC,4399,-0.75,-136.3,385.6,-9.2,300,4403,0.12,2.17,0.00,0.000,6,0.142,0.040,2451,1955,3457,0,0,0,0,0,0
$GC,4750,-0.75,-136.3,411.3,-6.8,309,4754,0.00,2.25,0.00,0.000,4,0.000,0.061,2452,551,3453,0,0,0,0,0,0
$GC,4934,-0.75,-136.3,424.5,-6.7,313,4938,0.00,2.17,0.00,0.000,6,0.000,0.041,2445,1958,3452,0,0,0,0,0,0
$GC,5253,-0.75,-136.3,442.2,-5.7,321,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1958,3450,0,0,0,0,0,0
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5372,-0.17,0.0,450.2,6.5,324,5488,0.57,0.00,110.60,0.770,6,0.106,0.000,2634,1958,2899,0,0,0,0,0,0
$STATE,5489,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5492,0.75,136.3,452.6,0.0,327,5620,0.80,2.40,117.10,0.746,4,0.056,0.054,2931,3386,2343,0,0,0,0,0,0
$GC,5648,0.75,136.3,435.1,17.0,330,5653,0.00,2.33,0.00,0.000,6,0.000,0.047,2940,1979,2340,0,0,0,0,0,0
$GC,5980,0.75,136.3,378.5,17.2,338,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1979,2335,0,0,0,0,0,0
$GC,6305,0.75,136.3,324.3,16.6,346,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1979,2332,0,0,0,0,0,0
$GC,6611,0.75,136.3,279.8,14.1,356,6615,0.00,2.28,0.00,0.000,4,0.000,0.059,2951,567,2330,0,0,0,0,0,0
$GC,6678,0.75,136.3,270.0,15.1,359,6682,0.00,2.22,0.00,0.000,6,0.000,0.044,2951,1984,2329,0,0,0,0,0,0
$GC,6998,0.75,136.3,226.2,13.5,375,7002,0.00,2.20,0.00,0.000,4,0.000,0.052,2951,3393,2328,0,0,0,0,0,0
$GC,7159,0.75,136.3,203.2,14.8,382,7163,0.12,2.20,0.00,0.000,6,0.161,0.041,2928,1978,2328,0,0,0,0,0,0
$GC,7493,0.75,136.3,164.4,10.6,412,7497,0.00,2.22,0.00,0.000,4,0.000,0.059,2938,569,2327,0,0,0,0,0,0
$GC,7546,0.75,136.3,157.3,12.6,416,7554,0.00,2.22,0.00,0.000,6,0.000,0.039,2937,1993,2326,0,0,0,0,0,0
$GC,7873,0.75,136.3,118.0,11.7,447,7877,0.00,2.33,0.00,0.000,4,0.000,0.063,2948,568,2326,0,0,0,0,0,0
$GC,7927,0.75,136.3,111.2,11.4,451,7935,0.00,2.22,0.00,0.000,6,0.000,0.041,2947,1983,2326,0,0,0,0,0,0
$GC,8254,0.75,136.3,76.6,11.1,484,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1983,2326,0,0,0,0,0,0
$GC,8586,0.75,136.3,44.9,9.5,545,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1983,2327,0,0,0,0,0,0
$GC,8916,0.77,155.8,20.4,8.2,606,8936,0.00,0.00,15.00,0.443,6,0.000,0.000,2947,1983,2264,0,0,0,0,0,0
$GC,9097,0.78,162.4,4.1,8.7,639,9112,0.00,2.28,5.22,0.350,4,0.000,0.052,2948,3392,2236,0,0,0,0,0,0
$STATE,9118,end climb,SURFACE_DEPTH_REACHED
$STATE,9118,begin surface coast
$FINISH,0.5,1.018611
$STATE,9150,end surface coast,CONTROL_FINISHED_OK
$STATE,9150,begin surface
$SM_CCo,9171,56.28,0.436,0,0,1736,285.03
$SM_GC,1.56,0.00,0.00,56.28,0.000,0.000,0.436,52,1939,1736,-8.25,-0.51,285.03
$IRIDIUM_FIX,2050.21,-15757.78,280802,191902
$TT8_MAMPS,0.028379
$HUMID,63.54
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,442.2,54.1
$24V_AH,24.6,30.896
$10V_AH,10.4,33.856
$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,18.900,75.550,247.925,56.275,0.000,50.116,75.521,248.192,18.750,0.000,55.293,1198.687,5425.970,365.640,2213.055,639.634,0.000,1123.971,0.000,2125.013,0.000,119.082,0.000
$DEVICE_MAMPS,225.498,62.894,770.068,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,440.566,378.402,1268.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34915,648
$CAP_FILE_SIZE,102910,0
$CFSIZE,260165632,237273088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,213826,2103.189,-15756.852,66,0.7,67,9.8