version: 66.06
glider: 523
mission: 4
dive: 422
start: 6 8 113 21 37 11
data:
$ID,523
$MISSION,4
$DIVE,422
$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,-44333.66
$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,23
$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,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
$GPS1,212930,2059.656,-15752.292,23,1.9,23,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.4
$GPS2,213654,2059.539,-15752.291,17,2.0,17,9.8
$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,304.2,23458,-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,-77.68,0.000,6,0.000,0.000,40,1976,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.8,13,118,9.52,2.22,0.00,0.000,4,0.226,0.045,2381,3370,3395,0,0,0,0,0,0
$GC,268,-0.74,-146.0,38.2,-16.9,44,276,0.00,2.30,0.00,0.000,6,0.000,0.048,2381,1955,3398,0,0,0,0,0,0
$GC,602,-0.74,-146.0,88.9,-13.3,99,607,0.00,2.22,0.00,0.000,4,0.000,0.054,2372,3364,3399,0,0,0,0,0,0
$GC,693,-0.74,-146.0,100.5,-12.8,107,698,0.12,2.25,0.00,0.000,6,0.154,0.048,2403,1954,3399,0,0,0,0,0,0
$GC,1020,-0.74,-146.0,138.6,-10.5,137,1024,0.00,2.22,0.00,0.000,4,0.000,0.054,2403,545,3401,0,0,0,0,0,0
$GC,1203,-0.74,-146.0,158.5,-10.9,153,1211,0.00,2.17,0.00,0.000,6,0.000,0.033,2395,1966,3401,0,0,0,0,0,0
$GC,1530,-0.74,-146.0,188.3,-8.4,184,1534,0.00,2.28,0.00,0.000,4,0.000,0.052,2395,541,3401,0,0,0,0,0,0
$GC,1712,-0.74,-146.0,205.9,-8.6,197,1716,0.00,2.17,0.00,0.000,6,0.000,0.034,2385,1971,3401,0,0,0,0,0,0
$GC,2029,-0.74,-146.0,233.5,-8.7,212,2033,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,3360,3402,0,0,0,0,0,0
$GC,2052,-0.74,-146.0,235.7,-8.9,213,2056,0.00,2.22,0.00,0.000,6,0.000,0.044,2375,1951,3402,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,266.0,-9.7,229,2381,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,548,3402,0,0,0,0,0,0
$GC,2634,-0.74,-146.0,288.9,-7.6,240,2640,0.12,2.15,0.00,0.000,6,0.169,0.035,2396,1961,3402,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,307.7,-5.8,253,2954,0.00,2.25,0.00,0.000,4,0.000,0.054,2397,548,3401,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,315.4,-7.4,255,3064,0.00,2.12,0.00,0.000,6,0.000,0.035,2389,1956,3401,0,0,0,0,0,0
$GC,3409,-0.74,-146.0,340.6,-7.5,264,3413,0.00,2.28,0.00,0.000,4,0.000,0.058,2389,551,3401,0,0,0,0,0,0
$GC,3617,-0.74,-146.0,359.0,-8.3,268,3621,0.00,2.15,0.00,0.000,6,0.000,0.038,2380,1961,3399,0,0,0,0,0,0
$GC,3959,-0.74,-146.0,383.9,-6.6,277,3963,0.00,2.28,0.00,0.000,4,0.000,0.059,2379,548,3397,0,0,0,0,0,0
$GC,4167,-0.74,-146.0,398.1,-6.6,281,4172,0.12,2.20,0.00,0.000,6,0.169,0.041,2402,1963,3396,0,0,0,0,0,0
$GC,4503,-0.74,-146.0,420.6,-7.6,289,4507,0.00,2.30,0.00,0.000,4,0.000,0.062,2403,544,3394,0,0,0,0,0,0
$GC,4575,-0.74,-146.0,427.4,-8.8,290,4580,0.00,2.20,0.00,0.000,6,0.000,0.043,2395,1955,3393,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4866,begin apogee
$GC,4872,-0.17,0.0,451.7,8.2,297,4996,0.57,0.00,120.85,0.766,6,0.120,0.000,2579,1955,2800,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5000,0.74,146.0,454.3,0.0,300,5138,0.85,2.40,126.35,0.742,4,0.085,0.051,2867,3388,2203,0,0,0,0,0,0
$GC,5177,0.74,146.0,436.5,13.5,304,5181,0.00,2.30,0.00,0.000,6,0.000,0.039,2877,1976,2200,0,0,0,0,0,0
$GC,5491,0.74,146.0,392.2,14.5,312,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1976,2196,0,0,0,0,0,0
$GC,5815,0.74,146.0,347.0,13.5,320,5819,0.00,2.25,0.00,0.000,4,0.000,0.060,2887,563,2194,0,0,0,0,0,0
$GC,5844,0.74,146.0,343.3,12.7,320,5848,0.00,2.22,0.00,0.000,6,0.000,0.040,2887,1983,2194,0,0,0,0,0,0
$GC,6175,0.74,146.0,301.2,13.2,328,6179,0.00,2.20,0.00,0.000,4,0.000,0.053,2887,3390,2191,0,0,0,0,0,0
$GC,6221,0.74,146.0,295.1,13.6,329,6225,0.00,2.22,0.00,0.000,6,0.000,0.046,2896,1974,2191,0,0,0,0,0,0
$GC,6553,0.74,146.0,257.0,10.4,345,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1974,2191,0,0,0,0,0,0
$GC,6862,0.74,146.0,219.3,12.5,360,6866,0.00,2.28,0.00,0.000,4,0.000,0.057,2896,3392,2190,0,0,0,0,0,0
$GC,6896,0.74,146.0,215.3,11.7,361,6901,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1975,2189,0,0,0,0,0,0
$GC,7220,0.74,146.0,178.0,11.5,385,7224,0.00,2.25,0.00,0.000,4,0.000,0.059,2916,564,2188,0,0,0,0,0,0
$GC,7272,0.74,146.0,172.2,11.6,389,7277,0.15,2.20,0.00,0.000,6,0.133,0.040,2874,1983,2188,0,0,0,0,0,0
$GC,7601,0.74,150.5,140.1,8.8,419,7604,0.00,2.20,0.00,0.000,4,0.000,0.052,2874,3389,2188,0,0,0,0,0,0
$GC,7732,0.78,179.5,129.7,7.8,430,7765,0.00,2.25,26.98,0.555,6,0.000,0.045,2880,1978,2067,0,0,0,0,0,0
$GC,8093,0.78,179.5,97.4,9.8,464,8097,0.00,2.25,0.00,0.000,4,0.000,0.057,2891,565,2063,0,0,0,0,0,0
$GC,8123,0.78,179.5,94.4,10.3,466,8127,0.00,2.20,0.00,0.000,6,0.000,0.038,2891,1981,2062,0,0,0,0,0,0
$GC,8455,0.80,196.4,66.3,8.3,511,8480,0.00,2.22,15.25,0.476,4,0.000,0.051,2891,3389,1998,0,0,0,0,0,0
$GC,8594,0.80,196.4,52.7,9.5,536,8601,0.00,2.25,0.00,0.000,6,0.000,0.043,2893,1974,1997,0,0,0,0,0,0
$GC,8928,0.83,221.4,24.2,8.0,597,8956,0.00,2.22,22.52,0.451,4,0.000,0.054,2893,569,1896,0,0,0,0,0,0
$GC,8971,0.87,251.0,20.9,7.8,603,9006,0.00,2.22,26.27,0.446,6,0.000,0.036,2894,1993,1776,0,0,0,0,0,0
$GC,9167,0.90,278.9,4.5,7.9,638,9188,0.10,0.00,18.67,0.425,2,0.086,0.000,2972,1993,1691,0,0,0,0,0,0
$STATE,9189,end climb,SURFACE_DEPTH_REACHED
$STATE,9189,begin surface coast
$FINISH,0.6,1.023307
$STATE,9227,end surface coast,CONTROL_FINISHED_OK
$STATE,9227,begin surface
$SM_CCo,9246,13.45,0.403,0,0,1575,300.24
$SM_GC,1.29,0.00,0.00,13.45,0.000,0.000,0.403,35,1917,1575,-8.15,-1.13,300.24
$IRIDIUM_FIX,2047.91,-15754.77,020902,181821
$TT8_MAMPS,0.027612
$HUMID,63.66
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.5,34.744
$10V_AH,10.5,38.178
$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,19.175,84.900,356.900,13.450,0.000,28.093,42.339,235.682,19.250,0.000,18.139,1196.136,5369.709,381.260,2185.374,569.693,0.000,1182.757,0.000,2136.601,0.000,119.339,0.000
$DEVICE_MAMPS,226.265,101.244,766.233,402.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,439.672,379.411,1295.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35012,648
$CAP_FILE_SIZE,104485,0
$CFSIZE,260165632,235016192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,001253,2100.142,-15753.098,42,0.9,42,9.8