version: 66.06
glider: 523
mission: 4
dive: 423
start: 6 9 113 0 32 34
data:
$ID,523
$MISSION,4
$DIVE,423
$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,-44351.328
$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,56
$R_STBD_OVSHOOT,30
$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
$GPS1,001253,2100.142,-15753.098,42,0.9,42,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.1
$GPS2,003217,2059.992,-15753.362,16,0.9,16,9.8
$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,306.0,21556,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.35,0.000,6,0.000,0.000,35,1914,3396,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.3,-5.4,12,115,9.48,2.28,0.00,0.000,4,0.223,0.045,2385,3366,3397,0,0,0,0,0,0
$GC,229,-0.74,-146.0,29.2,-15.5,35,236,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1993,3399,0,0,0,0,0,0
$GC,401,-0.74,-146.0,55.1,-12.5,66,408,0.00,2.35,0.00,0.000,4,0.000,0.057,2385,544,3399,0,0,0,0,0,0
$GC,465,-0.74,-146.0,63.7,-14.3,77,471,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1962,3399,0,0,0,0,0,0
$GC,801,-0.74,-146.0,105.1,-12.4,119,805,0.00,2.22,0.00,0.000,4,0.000,0.057,2365,3367,3399,0,0,0,0,0,0
$GC,875,-0.74,-146.0,114.5,-12.5,125,880,0.12,2.22,0.00,0.000,6,0.154,0.044,2397,1952,3400,0,0,0,0,0,0
$GC,1208,-0.74,-146.0,148.4,-9.3,156,1212,0.00,2.22,0.00,0.000,4,0.000,0.053,2398,545,3401,0,0,0,0,0,0
$GC,1283,-0.74,-146.0,156.1,-9.9,162,1287,0.00,2.15,0.00,0.000,6,0.000,0.032,2389,1972,3401,0,0,0,0,0,0
$GC,1615,-0.74,-146.0,188.9,-9.0,193,1619,0.00,2.30,0.00,0.000,4,0.000,0.051,2389,535,3401,0,0,0,0,0,0
$GC,1802,-0.74,-146.0,207.1,-9.0,206,1807,0.00,2.15,0.00,0.000,6,0.000,0.032,2379,1962,3401,0,0,0,0,0,0
$GC,2121,-0.74,-146.0,236.4,-9.4,222,2125,0.00,2.28,0.00,0.000,4,0.000,0.051,2379,546,3400,0,0,0,0,0,0
$GC,2171,-0.74,-146.0,241.8,-10.2,224,2175,0.12,2.15,0.00,0.000,6,0.173,0.034,2401,1962,3401,0,0,0,0,0,0
$GC,2489,-0.74,-146.0,262.2,-5.7,239,2493,0.00,2.28,0.00,0.000,4,0.000,0.051,2402,544,3400,0,0,0,0,0,0
$GC,2746,-0.74,-146.0,278.9,-9.3,250,2752,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1958,3400,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,306.1,-6.9,265,3090,0.00,2.20,0.00,0.000,4,0.000,0.055,2383,3358,3399,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,316.7,-7.0,268,3236,0.00,2.22,0.00,0.000,6,0.000,0.042,2383,1947,3399,0,0,0,0,0,0
$GC,3580,-0.74,-146.0,339.3,-6.2,277,3584,0.00,2.25,0.00,0.000,4,0.000,0.057,2383,539,3397,0,0,0,0,0,0
$GC,3838,-0.74,-146.0,356.2,-7.5,282,3842,0.00,2.17,0.00,0.000,6,0.000,0.037,2373,1964,3395,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,378.8,-7.2,291,4179,0.00,2.30,0.00,0.000,4,0.000,0.057,2373,547,3392,0,0,0,0,0,0
$GC,4317,-0.74,-146.0,390.2,-8.6,294,4322,0.15,2.15,0.00,0.000,6,0.162,0.037,2404,1962,3392,0,0,0,0,0,0
$GC,4635,-0.74,-146.0,410.9,-6.4,302,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1963,3389,0,0,0,0,0,0
$GC,4956,-0.74,-146.0,432.1,-6.7,310,4960,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,547,3387,0,0,0,0,0,0
$GC,5176,-0.74,-146.0,449.0,-7.7,315,5180,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1952,3386,0,0,0,0,0,0
$STATE,5190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5190,begin apogee
$GC,5196,-0.17,0.0,450.4,8.1,315,5319,0.55,0.00,119.53,0.765,6,0.120,0.000,2576,1952,2799,0,0,0,0,0,0
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5323,0.74,146.0,452.9,0.0,318,5459,0.90,2.42,126.65,0.739,4,0.081,0.057,2878,3389,2203,0,0,0,0,0,0
$GC,5487,0.74,146.0,436.9,12.8,322,5491,0.00,2.30,0.00,0.000,6,0.000,0.044,2887,1985,2200,0,0,0,0,0,0
$GC,5829,0.74,146.0,390.6,13.9,331,5833,0.00,2.28,0.00,0.000,4,0.000,0.055,2887,3393,2196,0,0,0,0,0,0
$GC,5862,0.74,146.0,385.2,15.6,331,5867,0.00,2.30,0.00,0.000,6,0.000,0.052,2896,1980,2195,0,0,0,0,0,0
$GC,6193,0.74,146.0,334.1,15.1,340,6197,0.00,2.28,0.00,0.000,4,0.000,0.059,2907,566,2194,0,0,0,0,0,0
$GC,6237,0.74,146.0,327.7,14.4,341,6241,0.00,2.22,0.00,0.000,6,0.000,0.039,2907,1993,2193,0,0,0,0,0,0
$GC,6556,0.74,146.0,285.3,13.0,351,6560,0.00,2.17,0.00,0.000,4,0.000,0.053,2907,3393,2192,0,0,0,0,0,0
$GC,6681,0.74,146.0,269.5,12.2,356,6687,0.15,2.22,0.00,0.000,6,0.146,0.041,2873,1976,2191,0,0,0,0,0,0
$GC,6997,0.74,146.0,238.7,10.5,372,7001,0.00,2.25,0.00,0.000,4,0.000,0.060,2882,563,2190,0,0,0,0,0,0
$GC,7103,0.74,146.0,226.9,10.7,376,7108,0.00,2.22,0.00,0.000,6,0.000,0.042,2882,1986,2189,0,0,0,0,0,0
$GC,7423,0.74,146.0,193.3,10.2,395,7427,0.00,2.20,0.00,0.000,4,0.000,0.053,2881,3389,2189,0,0,0,0,0,0
$GC,7487,0.74,146.0,185.7,12.3,400,7494,0.00,2.22,0.00,0.000,6,0.000,0.040,2892,1982,2188,0,0,0,0,0,0
$GC,7816,0.74,147.3,152.8,9.0,431,7820,0.00,2.22,0.00,0.000,4,0.000,0.060,2902,572,2188,0,0,0,0,0,0
$GC,7848,0.74,147.3,149.3,10.0,433,7855,0.00,2.22,0.00,0.000,6,0.000,0.043,2902,1977,2187,0,0,0,0,0,0
$GC,8175,0.74,147.3,113.9,9.9,464,8179,0.00,2.22,0.00,0.000,4,0.000,0.052,2902,3398,2188,0,0,0,0,0,0
$GC,8291,0.74,147.3,100.9,11.1,474,8296,0.12,2.22,0.00,0.000,6,0.151,0.041,2877,1969,2187,0,0,0,0,0,0
$GC,8619,0.76,165.5,72.2,8.3,512,8639,0.00,2.30,14.95,0.489,4,0.000,0.051,2877,3390,2125,0,0,0,0,0,0
$GC,8731,0.78,180.3,63.1,8.4,531,8755,0.00,2.20,14.15,0.475,6,0.000,0.039,2885,1980,2063,0,0,0,0,0,0
$GC,9086,0.80,199.6,32.0,8.2,595,9110,0.00,2.25,17.12,0.456,4,0.000,0.049,2885,3385,1985,0,0,0,0,0,0
$GC,9216,0.85,234.9,21.8,7.6,618,9256,0.00,2.22,30.90,0.456,6,0.000,0.041,2894,1981,1842,0,0,0,0,0,0
$GC,9417,0.85,234.9,4.8,10.3,654,9424,0.00,2.33,0.00,0.000,4,0.000,0.061,2894,3380,1841,0,0,0,0,0,0
$GC,9440,0.89,272.1,3.1,7.5,657,9448,0.00,2.25,3.85,0.304,2,0.000,0.043,2895,1979,1826,0,0,0,0,0,0
$STATE,9449,end climb,SURFACE_DEPTH_REACHED
$STATE,9449,begin surface coast
$FINISH,1.6,1.023283
$STATE,9456,end surface coast,CONTROL_FINISHED_OK
$STATE,9456,begin surface
$SM_CCo,9474,31.40,0.430,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,31.40,0.000,0.000,0.430,41,1973,1575,-8.12,0.45,300.24
$IRIDIUM_FIX,2054.83,-15756.91,030902,000005
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,24.6,34.852
$10V_AH,10.4,38.283
$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,19.100,98.400,327.150,31.400,0.000,143.088,233.630,387.282,19.500,0.000,17.040,1228.672,5708.342,410.025,2256.406,1064.430,0.000,1229.645,0.000,2205.651,0.000,117.278,0.000
$DEVICE_MAMPS,223.197,60.593,764.699,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,447.092,374.227,1285.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35034,659
$CAP_FILE_SIZE,118795,0
$CFSIZE,260165632,234950656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,031201,2100.662,-15754.452,21,0.7,22,9.8