version: 66.06
glider: 523
mission: 4
dive: 379
start: 6 4 113 3 1 55
data:
$ID,523
$MISSION,4
$DIVE,379
$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,-43409.062
$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,33
$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
$GPS1,025509,2105.074,-15758.590,23,1.9,23,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.5
$GPS2,030136,2105.160,-15758.577,31,1.5,31,9.8
$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,304.5,8416,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.75,-136.3,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,2,0.000,0.000,29,1933,3396,0,0,0,0,0,0
$GC,91,-0.75,-136.3,3.3,-4.7,11,113,9.75,2.30,-1.27,0.000,4,0.229,0.067,2430,3363,3458,0,0,0,0,0,0
$GC,261,-0.75,-136.3,38.6,-17.4,42,268,0.00,2.22,0.00,0.000,6,0.000,0.042,2430,1971,3459,0,0,0,0,0,0
$GC,597,-0.75,-136.3,84.8,-11.2,99,602,0.00,2.28,0.00,0.000,4,0.000,0.058,2431,537,3460,0,0,0,0,0,0
$GC,850,-0.75,-136.3,117.7,-14.0,122,854,0.00,2.17,0.00,0.000,6,0.000,0.033,2421,1976,3461,0,0,0,0,0,0
$GC,1177,-0.75,-136.3,154.8,-10.9,152,1182,0.00,2.30,0.00,0.000,4,0.000,0.052,2421,531,3462,0,0,0,0,0,0
$GC,1267,-0.75,-136.3,164.4,-10.5,160,1272,0.12,2.12,0.00,0.000,6,0.164,0.033,2446,1953,3462,0,0,0,0,0,0
$GC,1601,-0.75,-136.3,190.2,-8.6,191,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1954,3463,0,0,0,0,0,0
$GC,1923,-0.75,-136.3,215.1,-5.9,212,1927,0.00,2.17,0.00,0.000,4,0.000,0.054,2436,3364,3463,0,0,0,0,0,0
$GC,2030,-0.75,-136.3,222.0,-7.0,217,2034,0.00,2.22,0.00,0.000,6,0.000,0.043,2436,1946,3463,0,0,0,0,0,0
$GC,2357,-0.75,-136.3,247.9,-7.9,233,2361,0.00,2.20,0.00,0.000,4,0.000,0.051,2436,541,3463,0,0,0,0,0,0
$GC,2580,-0.75,-136.3,265.8,-8.2,243,2585,0.00,2.15,0.00,0.000,6,0.000,0.033,2427,1972,3463,0,0,0,0,0,0
$GC,2905,-0.75,-136.3,290.6,-7.4,259,2909,0.00,2.15,0.00,0.000,4,0.000,0.054,2419,3351,3463,0,0,0,0,0,0
$GC,2955,-0.75,-136.3,295.2,-8.4,261,2960,0.10,2.17,0.00,0.000,6,0.148,0.041,2446,1951,3463,0,0,0,0,0,0
$GC,3291,-0.75,-136.3,315.4,-5.5,271,3295,0.00,2.25,0.00,0.000,4,0.000,0.056,2446,540,3463,0,0,0,0,0,0
$GC,3366,-0.75,-136.3,320.3,-7.0,272,3370,0.00,2.15,0.00,0.000,6,0.000,0.036,2438,1952,3463,0,0,0,0,0,0
$GC,3698,-0.75,-136.3,343.5,-6.9,280,3702,0.00,2.25,0.00,0.000,4,0.000,0.055,2438,551,3461,0,0,0,0,0,0
$GC,3918,-0.75,-136.3,359.5,-6.6,285,3925,0.00,2.15,0.00,0.000,6,0.000,0.037,2429,1956,3460,0,0,0,0,0,0
$GC,4252,-0.75,-136.3,382.6,-6.9,293,4256,0.00,2.22,0.00,0.000,4,0.000,0.057,2420,3361,3459,0,0,0,0,0,0
$GC,4343,-0.75,-136.3,389.0,-6.7,295,4347,0.00,2.20,0.00,0.000,6,0.000,0.042,2420,1956,3458,0,0,0,0,0,0
$GC,4671,-0.75,-136.3,410.3,-6.5,303,4676,0.10,2.25,0.00,0.000,4,0.170,0.058,2447,550,3456,0,0,0,0,0,0
$GC,4798,-0.75,-136.3,418.0,-5.7,305,4803,0.00,2.17,0.00,0.000,6,0.000,0.038,2440,1963,3455,0,0,0,0,0,0
$GC,5130,-0.75,-136.3,435.4,-5.2,314,5134,0.00,2.25,0.00,0.000,4,0.000,0.060,2440,551,3453,0,0,0,0,0,0
$GC,5262,-0.75,-136.3,443.3,-6.3,317,5266,0.00,2.17,0.00,0.000,6,0.000,0.041,2431,1956,3452,0,0,0,0,0,0
$STATE,5381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5381,begin apogee
$GC,5387,-0.17,0.0,450.6,5.9,320,5503,0.62,0.00,111.00,0.775,6,0.110,0.000,2634,1957,2899,0,0,0,0,0,0
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5507,0.75,136.3,451.3,0.0,323,5635,0.80,2.40,116.72,0.749,4,0.055,0.054,2931,3386,2343,0,0,0,0,0,0
$GC,5679,0.75,136.3,428.9,17.5,327,5684,0.00,2.30,0.00,0.000,6,0.000,0.046,2939,1979,2340,0,0,0,0,0,0
$GC,5999,0.75,136.3,378.1,15.9,335,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1979,2335,0,0,0,0,0,0
$GC,6323,0.75,136.3,325.5,15.6,343,6327,0.00,2.28,0.00,0.000,4,0.000,0.058,2939,3391,2332,0,0,0,0,0,0
$GC,6384,0.75,136.3,314.8,17.2,344,6388,0.00,2.28,0.00,0.000,6,0.000,0.048,2949,1970,2331,0,0,0,0,0,0
$GC,6709,0.75,136.3,262.9,15.0,358,6713,0.00,2.25,0.00,0.000,4,0.000,0.058,2949,3386,2330,0,0,0,0,0,0
$GC,6787,0.75,136.3,249.8,15.8,361,6793,0.00,2.25,0.00,0.000,6,0.000,0.049,2959,1975,2330,0,0,0,0,0,0
$GC,7103,0.75,136.3,205.2,14.3,377,7107,0.00,2.25,0.00,0.000,4,0.000,0.061,2959,3386,2328,0,0,0,0,0,0
$GC,7178,0.75,136.3,195.1,15.1,382,7183,0.15,2.25,0.00,0.000,6,0.152,0.051,2928,1978,2327,0,0,0,0,0,0
$GC,7504,0.75,136.3,157.0,11.9,412,7508,0.00,2.25,0.00,0.000,4,0.000,0.058,2937,555,2327,0,0,0,0,0,0
$GC,7580,0.75,136.3,147.9,11.8,418,7587,0.00,2.22,0.00,0.000,6,0.000,0.043,2938,1978,2326,0,0,0,0,0,0
$GC,7907,0.75,136.3,111.5,11.7,449,7911,0.00,2.20,0.00,0.000,4,0.000,0.051,2938,3394,2326,0,0,0,0,0,0
$GC,7950,0.75,136.3,105.9,12.2,452,7957,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,1966,2327,0,0,0,0,0,0
$GC,8276,0.75,136.3,73.1,9.1,490,8284,0.00,2.22,0.00,0.000,4,0.000,0.058,2958,573,2327,0,0,0,0,0,0
$GC,8353,0.75,136.3,65.9,9.6,503,8358,0.00,2.17,0.00,0.000,6,0.000,0.041,2958,1980,2326,0,0,0,0,0,0
$GC,8685,0.75,136.3,32.8,9.8,564,8692,0.00,2.28,0.00,0.000,4,0.000,0.058,2967,579,2327,0,0,0,0,0,0
$GC,8733,0.75,136.3,27.9,10.0,572,8739,0.10,2.17,0.00,0.000,6,0.121,0.040,2934,1970,2327,0,0,0,0,0,0
$GC,8901,0.83,205.9,16.5,5.9,603,8960,0.00,0.00,56.28,0.462,6,0.000,0.000,2934,1969,2059,0,0,0,0,0,0
$STATE,9093,end climb,SURFACE_DEPTH_REACHED
$STATE,9093,begin surface coast
$FINISH,0.6,1.022401
$STATE,9135,end surface coast,CONTROL_FINISHED_OK
$STATE,9135,begin surface
$SM_CCo,9153,43.80,0.436,0,0,1737,285.03
$SM_GC,1.14,0.00,0.00,43.80,0.000,0.000,0.436,50,1974,1737,-8.25,0.48,285.03
$IRIDIUM_FIX,2052.52,-15805.06,290802,000055
$TT8_MAMPS,0.028379
$HUMID,62.56
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,31.128
$10V_AH,10.5,34.137
$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,19.125,84.575,284.000,43.800,0.000,23.996,39.635,175.880,19.250,0.000,32.331,1191.148,5306.025,372.684,2216.385,498.293,0.000,1161.156,0.000,2154.986,0.000,123.324,0.000
$DEVICE_MAMPS,229.333,66.729,774.670,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.230,378.689,1287.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,34949,645
$CAP_FILE_SIZE,103346,0
$CFSIZE,260165632,237125632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,053659,2105.900,-15759.043,68,1.0,68,9.8