version: 66.06
glider: 523
mission: 4
dive: 382
start: 6 4 113 11 8 28
data:
$ID,523
$MISSION,4
$DIVE,382
$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,-43469.02
$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,32
$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
$GPS1,105822,2107.156,-15801.030,45,0.9,45,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.1
$GPS2,110811,2107.226,-15801.105,20,1.1,20,9.8
$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,311.3,2638,-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,-69.75,0.000,2,0.000,0.000,25,1928,3410,0,0,0,0,0,0
$GC,91,-0.75,-136.3,3.5,-5.1,11,113,9.75,2.25,-0.98,0.000,4,0.229,0.067,2431,550,3458,0,0,0,0,0,0
$GC,355,-0.75,-136.3,58.5,-18.7,59,360,0.00,2.17,0.00,0.000,6,0.000,0.036,2423,1963,3459,0,0,0,0,0,0
$GC,689,-0.75,-136.3,105.0,-12.0,103,694,0.00,2.28,0.00,0.000,4,0.000,0.054,2423,547,3462,0,0,0,0,0,0
$GC,942,-0.75,-136.3,137.7,-11.9,126,947,0.12,2.15,0.00,0.000,6,0.162,0.032,2447,1968,3462,0,0,0,0,0,0
$GC,1269,-0.75,-136.3,169.8,-10.2,156,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1969,3462,0,0,0,0,0,0
$GC,1587,-0.75,-136.3,196.2,-7.3,186,1591,0.00,2.25,0.00,0.000,4,0.000,0.051,2448,552,3463,0,0,0,0,0,0
$GC,1687,-0.75,-136.3,204.8,-8.6,192,1694,0.00,2.10,0.00,0.000,6,0.000,0.033,2439,1962,3463,0,0,0,0,0,0
$GC,2005,-0.75,-136.3,231.9,-9.0,208,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1962,3463,0,0,0,0,0,0
$GC,2313,-0.75,-136.3,253.4,-7.0,223,2317,0.00,2.25,0.00,0.000,4,0.000,0.050,2439,553,3463,0,0,0,0,0,0
$GC,2438,-0.75,-136.3,263.3,-8.2,228,2443,0.00,2.12,0.00,0.000,6,0.000,0.033,2430,1959,3462,0,0,0,0,0,0
$GC,2758,-0.75,-136.3,290.5,-7.6,244,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1959,3462,0,0,0,0,0,0
$GC,3061,-0.75,-136.3,312.3,-7.3,255,3065,0.00,2.28,0.00,0.000,4,0.000,0.054,2431,547,3462,0,0,0,0,0,0
$GC,3198,-0.75,-136.3,322.1,-6.6,258,3202,0.00,2.12,0.00,0.000,6,0.000,0.036,2422,1957,3462,0,0,0,0,0,0
$GC,3517,-0.75,-136.3,344.8,-7.6,266,3521,0.00,2.22,0.00,0.000,4,0.000,0.055,2411,3363,3461,0,0,0,0,0,0
$GC,3555,-0.75,-136.3,348.0,-8.7,266,3562,0.12,2.17,0.00,0.000,6,0.140,0.039,2448,1955,3461,0,0,0,0,0,0
$GC,3887,-0.75,-136.3,369.2,-6.6,275,3891,0.00,2.25,0.00,0.000,4,0.000,0.058,2448,541,3459,0,0,0,0,0,0
$GC,4144,-0.75,-136.3,388.8,-6.3,280,4150,0.00,2.17,0.00,0.000,6,0.000,0.038,2441,1955,3457,0,0,0,0,0,0
$GC,4478,-0.75,-136.3,407.0,-5.2,289,4482,0.00,2.25,0.00,0.000,4,0.000,0.058,2440,552,3455,0,0,0,0,0,0
$GC,4625,-0.75,-136.3,416.0,-5.9,292,4628,0.00,2.17,0.00,0.000,6,0.000,0.041,2434,1958,3454,0,0,0,0,0,0
$GC,4974,-0.75,-136.3,432.6,-5.5,301,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1959,3452,0,0,0,0,0,0
$GC,5299,-0.75,-136.3,448.2,-4.1,309,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1959,3449,0,0,0,0,0,0
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5383,-0.17,0.0,451.6,4.1,311,5499,0.62,0.00,110.88,0.779,6,0.109,0.000,2638,1959,2900,0,0,0,0,0,0
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5499,begin climb
$GC,5503,0.75,136.3,451.2,0.0,314,5628,0.82,2.40,117.68,0.751,4,0.054,0.054,2940,3385,2343,0,0,0,0,0,0
$GC,5695,0.75,136.3,426.3,17.3,318,5700,0.00,2.28,0.00,0.000,6,0.000,0.046,2951,1980,2339,0,0,0,0,0,0
$GC,6027,0.75,136.3,369.7,16.8,326,6031,0.00,2.25,0.00,0.000,4,0.000,0.059,2961,568,2334,0,0,0,0,0,0
$GC,6076,0.75,136.3,361.2,16.9,327,6081,0.12,2.22,0.00,0.000,6,0.168,0.044,2930,1981,2333,0,0,0,0,0,0
$GC,6400,0.75,136.3,314.5,13.6,335,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1983,2331,0,0,0,0,0,0
$GC,6708,0.75,136.3,270.9,14.1,347,6712,0.00,2.20,0.00,0.000,4,0.000,0.052,2930,3388,2330,0,0,0,0,0,0
$GC,6815,0.75,136.3,255.0,14.7,352,6819,0.00,2.22,0.00,0.000,6,0.000,0.040,2939,1970,2329,0,0,0,0,0,0
$GC,7141,0.75,136.3,213.9,13.3,368,7145,0.00,2.28,0.00,0.000,4,0.000,0.050,2939,3393,2328,0,0,0,0,0,0
$GC,7203,0.75,136.3,205.2,14.7,371,7207,0.00,2.22,0.00,0.000,6,0.000,0.040,2949,1972,2328,0,0,0,0,0,0
$GC,7530,0.75,136.3,161.6,11.2,399,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1972,2327,0,0,0,0,0,0
$GC,7859,0.75,136.3,125.2,10.1,430,7863,0.00,2.25,0.00,0.000,4,0.000,0.049,2949,3398,2327,0,0,0,0,0,0
$GC,7922,0.75,136.3,118.1,11.7,435,7926,0.00,2.20,0.00,0.000,6,0.000,0.038,2958,1978,2327,0,0,0,0,0,0
$GC,8250,0.75,136.3,82.4,10.1,465,8254,0.00,2.22,0.00,0.000,4,0.000,0.056,2968,566,2327,0,0,0,0,0,0
$GC,8270,0.75,136.3,80.3,10.6,466,8275,0.12,2.20,0.00,0.000,6,0.144,0.042,2934,1984,2327,0,0,0,0,0,0
$GC,8603,0.80,181.8,50.4,7.0,526,8646,0.00,2.28,36.72,0.491,4,0.000,0.058,2941,566,2156,0,0,0,0,0,0
$GC,8663,0.86,232.2,46.3,6.8,536,8717,0.00,2.22,42.72,0.480,6,0.000,0.040,2941,1977,1951,0,0,0,0,0,0
$GC,9035,0.86,232.2,4.0,13.1,605,9043,0.00,2.28,0.00,0.000,4,0.000,0.053,2941,3392,1948,0,0,0,0,0,0
$STATE,9049,end climb,SURFACE_DEPTH_REACHED
$STATE,9049,begin surface coast
$FINISH,0.4,1.010009
$STATE,9077,end surface coast,CONTROL_FINISHED_OK
$STATE,9077,begin surface
$SM_CCo,9097,24.80,0.428,0,0,1738,285.03
$SM_GC,1.66,0.00,0.00,24.80,0.000,0.000,0.428,37,1945,1738,-8.29,-0.34,285.03
$IRIDIUM_FIX,2104.07,-15805.48,290802,111106
$TT8_MAMPS,0.028379
$HUMID,64.64
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.6,31.369
$10V_AH,10.4,34.415
$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,19.175,71.225,308.000,24.800,0.000,50.083,72.146,260.593,19.250,0.000,20.458,1116.121,5584.102,386.029,1996.115,627.088,0.000,1085.416,0.000,1942.261,0.000,117.252,0.000
$DEVICE_MAMPS,228.566,67.496,778.505,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.069,341.108,1160.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,34959,612
$CAP_FILE_SIZE,98116,0
$CFSIZE,260165632,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,134129,2107.868,-15802.325,19,1.4,19,9.8