version: 66.06
glider: 523
mission: 4
dive: 381
start: 6 4 113 8 22 47
data:
$ID,523
$MISSION,4
$DIVE,381
$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,-43447.934
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,081248,2106.364,-15759.756,18,1.3,18,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.7
$GPS2,082229,2106.394,-15759.812,17,0.9,17,9.8
$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,302.9,5296,-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,-136.3,0.0,0.0,0,93,0.00,0.00,-72.35,0.000,6,0.000,0.000,38,1940,3456,0,0,0,0,0,0
$GC,97,-0.75,-136.3,4.1,-6.7,12,111,9.82,2.22,0.00,0.000,4,0.230,0.048,2440,545,3457,0,0,0,0,0,0
$GC,130,-0.75,-136.3,18.3,-39.6,17,138,0.00,2.22,0.00,0.000,6,0.000,0.038,2431,1959,3458,0,0,0,0,0,0
$GC,300,-0.75,-136.3,45.9,-12.0,48,307,0.00,2.33,0.00,0.000,4,0.000,0.054,2431,547,3458,0,0,0,0,0,0
$GC,549,-0.75,-136.3,78.4,-11.7,94,556,0.00,2.17,0.00,0.000,6,0.000,0.037,2422,1952,3459,0,0,0,0,0,0
$GC,880,-0.75,-136.3,115.4,-10.7,126,884,0.00,2.25,0.00,0.000,4,0.000,0.052,2421,549,3461,0,0,0,0,0,0
$GC,965,-0.75,-136.3,124.8,-10.3,133,973,0.12,2.15,0.00,0.000,6,0.165,0.035,2446,1961,3461,0,0,0,0,0,0
$GC,1301,-0.75,-136.3,151.1,-6.7,164,1305,0.00,2.25,0.00,0.000,4,0.000,0.051,2446,548,3462,0,0,0,0,0,0
$GC,1459,-0.75,-136.3,164.5,-9.3,178,1466,0.00,2.17,0.00,0.000,6,0.000,0.034,2438,1963,3462,0,0,0,0,0,0
$GC,1786,-0.75,-136.3,191.5,-7.9,209,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1963,3462,0,0,0,0,0,0
$GC,2098,-0.75,-136.3,218.0,-9.0,229,2102,0.00,2.20,0.00,0.000,4,0.000,0.056,2427,3359,3462,0,0,0,0,0,0
$GC,2166,-0.75,-136.3,224.6,-8.9,232,2170,0.00,2.22,0.00,0.000,6,0.000,0.046,2427,1959,3462,0,0,0,0,0,0
$GC,2489,-0.75,-136.3,247.8,-6.1,248,2493,0.00,2.25,0.00,0.000,4,0.000,0.054,2427,539,3461,0,0,0,0,0,0
$GC,2658,-0.75,-136.3,260.5,-7.9,255,2663,0.12,2.17,0.00,0.000,6,0.156,0.035,2452,1974,3462,0,0,0,0,0,0
$GC,2978,-0.75,-136.3,279.8,-6.3,270,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1975,3462,0,0,0,0,0,0
$GC,3284,-0.75,-136.3,301.3,-7.5,285,3288,0.00,2.30,0.00,0.000,4,0.000,0.056,2453,546,3461,0,0,0,0,0,0
$GC,3330,-0.75,-136.3,305.0,-7.2,286,3334,0.00,2.15,0.00,0.000,6,0.000,0.038,2445,1951,3461,0,0,0,0,0,0
$GC,3656,-0.75,-136.3,327.0,-6.5,294,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1951,3459,0,0,0,0,0,0
$GC,3980,-0.75,-136.3,349.3,-7.5,302,3985,0.00,2.28,0.00,0.000,4,0.000,0.058,2445,543,3457,0,0,0,0,0,0
$GC,4021,-0.75,-136.3,353.0,-9.0,303,4025,0.00,2.20,0.00,0.000,6,0.000,0.040,2436,1965,3457,0,0,0,0,0,0
$GC,4348,-0.75,-136.3,378.9,-7.6,311,4352,0.00,2.30,0.00,0.000,4,0.000,0.059,2437,541,3456,0,0,0,0,0,0
$GC,4595,-0.75,-136.3,396.5,-6.9,316,4599,0.00,2.20,0.00,0.000,6,0.000,0.041,2428,1959,3454,0,0,0,0,0,0
$GC,4933,-0.75,-136.3,416.3,-5.8,325,4937,0.00,2.28,0.00,0.000,4,0.000,0.060,2428,547,3452,0,0,0,0,0,0
$GC,5111,-0.75,-136.3,427.1,-5.5,329,5116,0.10,2.20,0.00,0.000,6,0.171,0.041,2445,1964,3451,0,0,0,0,0,0
$STATE,5427,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5429,begin apogee
$GC,5436,-0.17,0.0,444.7,6.1,337,5549,0.57,0.00,110.62,0.770,6,0.106,0.000,2635,1963,2899,0,0,0,0,0,0
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5550,begin climb
$GC,5553,0.75,136.3,447.6,0.0,340,5678,0.82,2.42,117.82,0.744,4,0.056,0.061,2934,3377,2343,0,0,0,0,0,0
$GC,5713,0.75,136.3,429.7,16.9,344,5718,0.00,2.30,0.00,0.000,6,0.000,0.047,2943,1984,2340,0,0,0,0,0,0
$GC,6038,0.75,136.3,375.5,16.3,352,6042,0.00,2.30,0.00,0.000,4,0.000,0.067,2954,570,2335,0,0,0,0,0,0
$GC,6088,0.75,136.3,367.7,15.3,353,6092,0.00,2.22,0.00,0.000,6,0.000,0.042,2954,1978,2334,0,0,0,0,0,0
$GC,6400,0.75,136.3,315.3,17.3,361,6404,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,3393,2332,0,0,0,0,0,0
$GC,6518,0.75,136.3,295.4,16.9,363,6523,0.12,2.25,0.00,0.000,6,0.163,0.050,2932,1979,2330,0,0,0,0,0,0
$GC,6834,0.75,136.3,252.9,12.5,378,6838,0.00,2.25,0.00,0.000,4,0.000,0.052,2932,3393,2330,0,0,0,0,0,0
$GC,6861,0.75,136.3,249.2,13.1,379,6865,0.00,2.25,0.00,0.000,6,0.000,0.048,2940,1978,2329,0,0,0,0,0,0
$GC,7177,0.75,136.3,209.9,11.4,394,7181,0.00,2.22,0.00,0.000,4,0.000,0.058,2950,561,2328,0,0,0,0,0,0
$GC,7221,0.75,136.3,204.2,12.4,396,7225,0.00,2.22,0.00,0.000,6,0.000,0.042,2950,1987,2328,0,0,0,0,0,0
$GC,7553,0.75,136.3,160.3,14.3,425,7557,0.00,2.17,0.00,0.000,4,0.000,0.053,2950,3392,2327,0,0,0,0,0,0
$GC,7650,0.75,136.3,146.4,12.6,433,7657,0.08,2.22,0.00,0.000,6,0.140,0.041,2935,1980,2327,0,0,0,0,0,0
$GC,7977,0.75,136.3,112.3,9.9,464,7981,0.00,2.25,0.00,0.000,4,0.000,0.057,2935,3387,2327,0,0,0,0,0,0
$GC,8020,0.75,136.3,107.1,13.1,467,8027,0.00,2.22,0.00,0.000,6,0.000,0.040,2944,1976,2326,0,0,0,0,0,0
$GC,8344,0.75,136.3,73.3,10.6,504,8351,0.00,2.25,0.00,0.000,4,0.000,0.052,2943,3387,2327,0,0,0,0,0,0
$GC,8380,0.75,136.3,69.4,11.2,510,8388,0.00,2.20,0.00,0.000,6,0.000,0.040,2953,1982,2327,0,0,0,0,0,0
$GC,8718,0.76,144.7,38.6,8.7,571,8730,0.00,2.22,5.75,0.400,4,0.000,0.053,2964,575,2308,0,0,0,0,0,0
$GC,8777,0.76,144.7,32.6,12.1,581,8783,0.12,2.15,0.00,0.000,6,0.146,0.035,2930,1984,2307,0,0,0,0,0,0
$GC,9106,0.79,176.0,7.5,7.6,642,9140,0.00,2.20,27.67,0.450,4,0.000,0.049,2930,3394,2181,0,0,0,0,0,0
$STATE,9152,end climb,SURFACE_DEPTH_REACHED
$STATE,9152,begin surface coast
$FINISH,0.5,1.014887
$STATE,9179,end surface coast,CONTROL_FINISHED_OK
$STATE,9182,begin surface
$SM_CCo,9202,48.15,0.436,0,0,1736,285.03
$SM_GC,1.42,0.00,0.00,48.15,0.000,0.000,0.436,25,1927,1736,-8.33,-0.85,285.03
$IRIDIUM_FIX,2059.45,-15753.90,290802,080831
$TT8_MAMPS,0.028379
$HUMID,64.05
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.6,31.282
$10V_AH,10.4,34.324
$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,19.350,89.400,261.875,48.150,0.000,51.417,68.486,236.031,18.500,0.000,18.136,1201.660,5446.689,398.633,2144.007,641.238,0.000,1127.923,0.000,2096.164,0.000,116.090,0.000
$DEVICE_MAMPS,230.100,67.496,770.068,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.994,372.144,1294.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34886,654
$CAP_FILE_SIZE,104403,0
$CFSIZE,260165632,237027328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,105822,2107.156,-15801.030,45,0.9,45,9.8