version: 66.06
glider: 523
mission: 4
dive: 378
start: 6 4 113 0 23 29
data:
$ID,523
$MISSION,4
$DIVE,378
$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,-43376.102
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,001704,2104.122,-15757.924,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.1
$GPS2,002311,2104.224,-15757.976,17,0.8,17,9.8
$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,307.3,10384,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.75,-136.3,0.0,0.0,0,90,0.00,0.00,-69.60,0.000,2,0.000,0.000,33,1965,3394,0,0,0,0,0,0
$GC,93,-0.75,-136.3,3.4,-4.9,11,115,9.75,2.25,-1.30,0.000,4,0.230,0.065,2428,3368,3458,0,0,0,0,0,0
$GC,265,-0.75,-136.3,37.8,-15.6,42,273,0.00,2.25,0.00,0.000,6,0.000,0.043,2428,1950,3459,0,0,0,0,0,0
$GC,602,-0.75,-136.3,80.6,-12.5,103,606,0.00,2.20,0.00,0.000,4,0.000,0.057,2428,536,3461,0,0,0,0,0,0
$GC,853,-0.75,-136.3,112.6,-13.8,125,861,0.08,2.20,0.00,0.000,6,0.145,0.033,2443,1976,3461,0,0,0,0,0,0
$GC,1181,-0.75,-136.3,145.7,-9.0,156,1185,0.00,2.25,0.00,0.000,4,0.000,0.051,2443,540,3462,0,0,0,0,0,0
$GC,1390,-0.75,-136.3,169.6,-10.8,174,1399,0.00,2.17,0.00,0.000,6,0.000,0.033,2435,1962,3462,0,0,0,0,0,0
$GC,1717,-0.75,-136.3,199.0,-7.9,205,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1963,3463,0,0,0,0,0,0
$GC,2025,-0.75,-136.3,222.4,-7.7,221,2029,0.00,2.25,0.00,0.000,4,0.000,0.050,2435,544,3463,0,0,0,0,0,0
$GC,2058,-0.75,-136.3,225.5,-9.2,222,2065,0.00,2.15,0.00,0.000,6,0.000,0.033,2426,1970,3463,0,0,0,0,0,0
$GC,2376,-0.75,-136.3,252.6,-9.3,238,2380,0.00,2.20,0.00,0.000,4,0.000,0.057,2415,3357,3463,0,0,0,0,0,0
$GC,2443,-0.75,-136.3,258.8,-8.8,241,2447,0.12,2.17,0.00,0.000,6,0.140,0.041,2452,1949,3463,0,0,0,0,0,0
$GC,2770,-0.75,-136.3,279.5,-5.6,257,2774,0.00,2.22,0.00,0.000,4,0.000,0.049,2444,3359,3463,0,0,0,0,0,0
$GC,2797,-0.75,-136.3,281.2,-5.8,258,2801,0.00,2.17,0.00,0.000,6,0.000,0.040,2444,1954,3463,0,0,0,0,0,0
$GC,3115,-0.75,-136.3,299.1,-6.1,273,3119,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,547,3463,0,0,0,0,0,0
$GC,3279,-0.75,-136.3,311.6,-7.6,277,3283,0.00,2.15,0.00,0.000,6,0.000,0.035,2435,1968,3463,0,0,0,0,0,0
$GC,3618,-0.75,-136.3,336.8,-7.9,286,3622,0.00,2.28,0.00,0.000,4,0.000,0.054,2435,548,3462,0,0,0,0,0,0
$GC,3821,-0.75,-136.3,353.1,-7.8,290,3825,0.00,2.15,0.00,0.000,6,0.000,0.036,2427,1956,3461,0,0,0,0,0,0
$GC,4159,-0.75,-136.3,375.6,-6.3,299,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1957,3458,0,0,0,0,0,0
$GC,4485,-0.75,-136.3,397.0,-7.0,307,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1957,3457,0,0,0,0,0,0
$GC,4808,-0.75,-136.3,418.2,-6.3,315,4812,0.00,2.30,0.00,0.000,4,0.000,0.059,2426,542,3454,0,0,0,0,0,0
$GC,4869,-0.75,-136.3,422.3,-6.9,316,4874,0.10,2.17,0.00,0.000,6,0.168,0.041,2446,1962,3454,0,0,0,0,0,0
$GC,5214,-0.75,-136.3,440.7,-5.3,325,5218,0.00,2.28,0.00,0.000,4,0.000,0.059,2447,550,3452,0,0,0,0,0,0
$STATE,5350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5350,begin apogee
$GC,5359,-0.17,0.0,450.0,6.9,328,5475,0.57,0.00,110.95,0.776,6,0.107,0.000,2632,1984,2899,0,0,0,0,0,0
$STATE,5476,end apogee,CONTROL_FINISHED_OK
$STATE,5476,begin climb
$GC,5479,0.75,136.3,452.0,0.0,331,5607,0.82,2.38,116.93,0.746,4,0.058,0.059,2934,3377,2343,0,0,0,0,0,0
$GC,5618,0.75,136.3,436.7,15.5,334,5622,0.00,2.33,0.00,0.000,6,0.000,0.046,2944,1981,2341,0,0,0,0,0,0
$GC,5966,0.75,136.3,374.1,17.8,343,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1980,2335,0,0,0,0,0,0
$GC,6290,0.75,136.3,320.9,16.3,351,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1980,2332,0,0,0,0,0,0
$GC,6597,0.75,136.3,271.2,14.9,362,6601,0.00,2.22,0.00,0.000,4,0.000,0.051,2943,3391,2330,0,0,0,0,0,0
$GC,6670,0.75,136.3,259.8,16.6,365,6674,0.00,2.20,0.00,0.000,6,0.000,0.042,2954,1975,2329,0,0,0,0,0,0
$GC,6985,0.75,136.3,213.1,14.8,380,6989,0.00,2.22,0.00,0.000,4,0.000,0.051,2954,3387,2328,0,0,0,0,0,0
$GC,7089,0.75,136.3,195.6,16.8,385,7094,0.12,2.17,0.00,0.000,6,0.160,0.039,2931,1972,2328,0,0,0,0,0,0
$GC,7416,0.75,136.3,153.6,12.0,415,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1972,2327,0,0,0,0,0,0
$GC,7737,0.75,136.3,119.4,10.8,445,7741,0.00,2.22,0.00,0.000,4,0.000,0.050,2930,3388,2327,0,0,0,0,0,0
$GC,7778,0.75,136.3,114.6,11.2,448,7782,0.00,2.15,0.00,0.000,6,0.000,0.039,2939,1981,2327,0,0,0,0,0,0
$GC,8107,0.77,155.6,84.1,8.2,478,8131,0.00,2.25,14.68,0.505,4,0.000,0.058,2950,579,2264,0,0,0,0,0,0
$GC,8161,0.77,155.6,79.0,9.1,483,8166,0.00,2.17,0.00,0.000,6,0.000,0.041,2950,1978,2263,0,0,0,0,0,0
$GC,8491,0.82,194.6,51.9,7.3,544,8533,0.00,2.30,33.85,0.488,4,0.000,0.059,2959,582,2105,0,0,0,0,0,0
$GC,8604,0.82,194.6,40.4,11.3,563,8609,0.00,2.20,0.00,0.000,6,0.000,0.039,2959,1992,2104,0,0,0,0,0,0
$GC,8929,0.82,194.6,5.5,9.7,624,8937,0.00,2.17,0.00,0.000,4,0.000,0.048,2959,3384,2103,0,0,0,0,0,0
$STATE,8949,end climb,SURFACE_DEPTH_REACHED
$STATE,8949,begin surface coast
$FINISH,0.4,1.013821
$STATE,8976,end surface coast,CONTROL_FINISHED_OK
$STATE,8976,begin surface
$SM_CCo,8997,39.85,0.433,0,0,1737,285.03
$SM_GC,1.14,0.00,0.00,39.85,0.000,0.000,0.433,29,1933,1737,-8.32,-0.68,285.03
$IRIDIUM_FIX,2052.52,-15756.91,280802,212124
$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,24.6,31.050
$10V_AH,10.5,34.040
$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,18.950,75.575,276.400,39.850,0.000,29.978,35.122,168.149,19.500,0.000,18.393,1153.512,5355.633,357.749,2061.565,475.177,0.000,1083.375,0.000,2011.856,0.000,117.251,0.000
$DEVICE_MAMPS,230.100,65.195,776.204,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.192,356.182,1222.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34959,632
$CAP_FILE_SIZE,96611,0
$CFSIZE,260165632,237182976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,025509,2105.074,-15758.590,23,1.9,23,9.8