version: 66.06
glider: 523
mission: 4
dive: 420
start: 6 8 113 16 12 43
data:
$ID,523
$MISSION,4
$DIVE,420
$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,150
$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,300
$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,-44298.078
$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,2640
$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,26
$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,2800
$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
$GPS1,160647,2058.065,-15750.877,13,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.6
$GPS2,161227,2058.041,-15750.890,22,1.1,22,9.8
$SPEED_LIMITS,0.157,0.252
$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,304.8,27130,-16.7,-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,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.68,0.000,6,0.000,0.000,33,1970,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.8,13,118,9.57,2.20,0.00,0.000,4,0.226,0.048,2384,3372,3397,0,0,0,0,0,0
$GC,208,-0.74,-146.0,29.2,-16.9,32,215,0.00,2.28,0.00,0.000,6,0.000,0.046,2384,1965,3397,0,0,0,0,0,0
$GC,382,-0.74,-146.0,54.4,-13.7,63,387,0.00,2.28,0.00,0.000,4,0.000,0.060,2383,535,3398,0,0,0,0,0,0
$GC,461,-0.74,-146.0,65.9,-12.4,77,466,0.00,2.20,0.00,0.000,6,0.000,0.035,2374,1966,3398,0,0,0,0,0,0
$GC,790,-0.74,-146.0,107.0,-12.0,118,794,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,541,3399,0,0,0,0,0,0
$GC,896,-0.74,-146.0,121.9,-13.5,127,901,0.15,2.17,0.00,0.000,6,0.164,0.034,2404,1970,3400,0,0,0,0,0,0
$GC,1223,-0.74,-146.0,154.0,-10.5,157,1227,0.00,2.30,0.00,0.000,4,0.000,0.054,2404,536,3401,0,0,0,0,0,0
$GC,1427,-0.74,-146.0,177.9,-10.5,175,1431,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1954,3401,0,0,0,0,0,0
$GC,1760,-0.74,-146.0,209.8,-8.4,201,1765,0.00,2.20,0.00,0.000,4,0.000,0.056,2385,3358,3402,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,214.6,-8.8,203,1817,0.00,2.25,0.00,0.000,6,0.000,0.044,2385,1943,3402,0,0,0,0,0,0
$GC,2139,-0.74,-146.0,242.8,-7.2,219,2143,0.00,2.22,0.00,0.000,4,0.000,0.054,2385,545,3402,0,0,0,0,0,0
$GC,2358,-0.74,-146.0,261.4,-8.9,229,2362,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1962,3402,0,0,0,0,0,0
$GC,2685,-0.74,-146.0,290.9,-9.0,245,2689,0.00,2.25,0.00,0.000,4,0.000,0.052,2376,547,3402,0,0,0,0,0,0
$GC,2837,-0.74,-146.0,302.6,-7.4,251,2841,0.12,2.15,0.00,0.000,6,0.163,0.035,2398,1961,3402,0,0,0,0,0,0
$GC,3187,-0.74,-146.0,324.4,-6.8,260,3192,0.00,2.30,0.00,0.000,4,0.000,0.055,2399,547,3402,0,0,0,0,0,0
$GC,3367,-0.74,-146.0,339.5,-9.1,264,3371,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1952,3401,0,0,0,0,0,0
$GC,3694,-0.74,-146.0,365.4,-7.3,272,3698,0.00,2.28,0.00,0.000,4,0.000,0.057,2391,547,3399,0,0,0,0,0,0
$GC,3745,-0.74,-146.0,368.6,-5.6,273,3749,0.00,2.17,0.00,0.000,6,0.000,0.039,2381,1962,3399,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,387.8,-6.9,281,4064,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,544,3397,0,0,0,0,0,0
$GC,4281,-0.74,-146.0,406.5,-7.3,286,4286,0.12,2.20,0.00,0.000,6,0.166,0.041,2404,1962,3396,0,0,0,0,0,0
$GC,4608,-0.74,-146.0,425.2,-5.6,294,4612,0.00,2.33,0.00,0.000,4,0.000,0.061,2404,542,3394,0,0,0,0,0,0
$GC,4658,-0.74,-146.0,428.5,-6.1,295,4662,0.00,2.20,0.00,0.000,6,0.000,0.043,2397,1953,3394,0,0,0,0,0,0
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4971,begin apogee
$GC,4977,-0.17,0.0,450.6,7.4,303,5101,0.57,0.00,120.85,0.770,6,0.120,0.000,2580,1953,2799,0,0,0,0,0,0
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5105,0.74,146.0,452.6,0.0,306,5243,0.88,2.42,126.25,0.742,4,0.085,0.052,2874,3389,2203,0,0,0,0,0,0
$GC,5338,0.74,146.0,424.9,13.4,311,5342,0.00,2.25,0.00,0.000,6,0.000,0.041,2884,1980,2198,0,0,0,0,0,0
$GC,5681,0.74,146.0,380.5,13.0,320,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1980,2196,0,0,0,0,0,0
$GC,6006,0.74,146.0,335.9,14.0,328,6010,0.00,2.25,0.00,0.000,4,0.000,0.059,2894,571,2193,0,0,0,0,0,0
$GC,6050,0.74,146.0,329.5,13.9,329,6055,0.00,2.20,0.00,0.000,6,0.000,0.039,2895,1987,2193,0,0,0,0,0,0
$GC,6371,0.74,146.0,286.5,13.9,339,6375,0.00,2.22,0.00,0.000,4,0.000,0.055,2894,3392,2192,0,0,0,0,0,0
$GC,6455,0.74,146.0,274.9,12.5,343,6460,0.00,2.28,0.00,0.000,6,0.000,0.048,2904,1973,2191,0,0,0,0,0,0
$GC,6783,0.74,146.0,235.9,11.6,359,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1972,2191,0,0,0,0,0,0
$GC,7092,0.74,146.0,199.5,10.7,374,7096,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,569,2190,0,0,0,0,0,0
$GC,7159,0.74,146.0,192.2,11.5,380,7164,0.12,2.20,0.00,0.000,6,0.140,0.041,2880,1978,2189,0,0,0,0,0,0
$GC,7486,0.74,146.0,160.0,9.7,410,7490,0.00,2.22,0.00,0.000,4,0.000,0.054,2880,3394,2188,0,0,0,0,0,0
$GC,7559,0.74,146.0,151.8,12.7,416,7563,0.00,2.25,0.00,0.000,6,0.000,0.050,2886,1978,2187,0,0,0,0,0,0
$GC,7886,0.74,146.0,116.2,10.6,446,7890,0.00,2.22,0.00,0.000,4,0.000,0.058,2897,569,2187,0,0,0,0,0,0
$GC,7970,0.74,146.0,107.5,10.7,453,7974,0.00,2.20,0.00,0.000,6,0.000,0.040,2897,1983,2187,0,0,0,0,0,0
$GC,8300,0.74,146.0,74.7,9.7,487,8305,0.00,2.20,0.00,0.000,4,0.000,0.052,2897,3393,2188,0,0,0,0,0,0
$GC,8475,0.74,146.0,56.9,10.1,519,8480,0.00,2.25,0.00,0.000,6,0.000,0.047,2905,1971,2188,0,0,0,0,0,0
$GC,8806,0.78,180.2,27.1,7.6,580,8838,0.00,2.25,27.40,0.467,4,0.000,0.054,2905,3386,2064,0,0,0,0,0,0
$GC,8907,0.79,186.2,19.2,8.8,597,8921,0.00,2.22,6.53,0.390,6,0.000,0.043,2910,1983,2040,0,0,0,0,0,0
$GC,9081,0.80,194.1,3.1,8.7,629,9088,0.00,0.00,5.93,0.367,6,0.000,0.000,2910,1983,2007,0,0,0,0,0,0
$STATE,9094,end climb,SURFACE_DEPTH_REACHED
$STATE,9094,begin surface coast
$FINISH,0.6,1.022534
$STATE,9134,end surface coast,CONTROL_FINISHED_OK
$STATE,9134,begin surface
$SM_CCo,9152,48.67,0.439,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,48.67,0.000,0.000,0.439,25,1977,1574,-8.18,0.54,300.24
$IRIDIUM_FIX,2047.91,-15748.36,020902,131335
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.5,34.576
$10V_AH,10.5,37.982
$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,18.900,84.900,286.950,48.675,0.000,27.833,36.499,138.077,19.000,0.000,22.831,1185.520,5342.000,382.408,2167.538,461.270,0.000,1151.060,0.000,2115.969,0.000,119.180,0.000
$DEVICE_MAMPS,226.265,61.360,770.068,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,434.085,369.416,1250.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34912,638
$CAP_FILE_SIZE,102188,0
$CFSIZE,260165632,235118592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080613,184728,2058.969,-15751.751,44,0.8,44,9.8