version: 66.06
glider: 523
mission: 4
dive: 424
start: 6 9 113 3 18 27
data:
$ID,523
$MISSION,4
$DIVE,424
$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,-44372.496
$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,25
$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
$GPS1,031201,2100.662,-15754.452,21,0.7,22,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.7
$GPS2,031811,2100.641,-15754.628,20,0.9,20,9.8
$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,308.2,19183,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.47,0.000,6,0.000,0.000,41,1973,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.9,-6.2,13,119,9.48,2.20,0.00,0.000,4,0.224,0.046,2385,3370,3396,0,0,0,0,0,0
$GC,293,-0.74,-146.0,42.0,-16.3,47,298,0.00,2.22,0.00,0.000,6,0.000,0.044,2385,1958,3398,0,0,0,0,0,0
$GC,626,-0.74,-146.0,90.1,-12.8,101,630,0.00,2.22,0.00,0.000,4,0.000,0.051,2375,3364,3399,0,0,0,0,0,0
$GC,703,-0.74,-146.0,100.2,-12.4,107,710,0.00,2.22,0.00,0.000,6,0.000,0.044,2375,1958,3399,0,0,0,0,0,0
$GC,1030,-0.74,-146.0,139.7,-10.4,138,1036,0.00,2.22,0.00,0.000,4,0.000,0.055,2375,545,3401,0,0,0,0,0,0
$GC,1056,-0.74,-146.0,142.6,-11.0,140,1061,0.12,2.15,0.00,0.000,6,0.169,0.035,2396,1973,3401,0,0,0,0,0,0
$GC,1383,-0.74,-146.0,175.9,-9.9,170,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1973,3401,0,0,0,0,0,0
$GC,1708,-0.74,-146.0,206.0,-8.5,198,1712,0.00,2.30,0.00,0.000,4,0.000,0.051,2397,544,3402,0,0,0,0,0,0
$GC,1967,-0.74,-146.0,230.1,-10.1,209,1973,0.00,2.12,0.00,0.000,6,0.000,0.034,2389,1965,3402,0,0,0,0,0,0
$GC,2285,-0.74,-146.0,258.9,-8.1,225,2289,0.00,2.28,0.00,0.000,4,0.000,0.052,2389,538,3402,0,0,0,0,0,0
$GC,2542,-0.74,-146.0,284.6,-8.3,236,2547,0.00,2.15,0.00,0.000,6,0.000,0.034,2379,1967,3402,0,0,0,0,0,0
$GC,2882,-0.74,-146.0,310.5,-7.9,249,2886,0.00,2.20,0.00,0.000,4,0.000,0.054,2369,3365,3401,0,0,0,0,0,0
$GC,3062,-0.74,-146.0,322.3,-5.1,253,3066,0.12,2.22,0.00,0.000,6,0.149,0.043,2402,1952,3401,0,0,0,0,0,0
$GC,3383,-0.74,-146.0,341.1,-6.6,261,3387,0.00,2.25,0.00,0.000,4,0.000,0.056,2402,541,3400,0,0,0,0,0,0
$GC,3642,-0.74,-146.0,364.4,-8.4,266,3648,0.00,2.15,0.00,0.000,6,0.000,0.037,2394,1958,3399,0,0,0,0,0,0
$GC,3976,-0.74,-146.0,387.3,-6.4,275,3980,0.00,2.30,0.00,0.000,4,0.000,0.056,2394,545,3397,0,0,0,0,0,0
$GC,4233,-0.74,-146.0,404.7,-6.8,280,4239,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1952,3395,0,0,0,0,0,0
$GC,4565,-0.74,-146.0,422.4,-5.0,289,4569,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,547,3393,0,0,0,0,0,0
$GC,4823,-0.74,-146.0,440.7,-7.5,294,4828,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1956,3392,0,0,0,0,0,0
$STATE,4949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4949,begin apogee
$GC,4955,-0.17,0.0,450.2,7.5,298,5079,0.65,0.00,120.55,0.765,6,0.123,0.000,2579,1956,2799,0,0,0,0,0,0
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5083,0.74,146.0,453.9,0.0,301,5217,0.90,2.40,127.15,0.738,4,0.084,0.056,2879,3387,2203,0,0,0,0,0,0
$GC,5258,0.74,146.0,439.0,14.3,305,5262,0.00,2.30,0.00,0.000,6,0.000,0.044,2889,1983,2200,0,0,0,0,0,0
$GC,5594,0.74,146.0,391.0,13.8,314,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1982,2196,0,0,0,0,0,0
$GC,5919,0.74,146.0,345.7,14.0,322,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1982,2194,0,0,0,0,0,0
$GC,6245,0.74,146.0,303.7,12.8,330,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1982,2192,0,0,0,0,0,0
$GC,6553,0.74,146.0,259.9,14.3,344,6557,0.00,2.25,0.00,0.000,4,0.000,0.052,2889,3388,2191,0,0,0,0,0,0
$GC,6615,0.74,146.0,251.5,14.1,347,6619,0.00,2.25,0.00,0.000,6,0.000,0.042,2898,1968,2190,0,0,0,0,0,0
$GC,6941,0.74,146.0,209.6,12.6,363,6945,0.00,2.25,0.00,0.000,4,0.000,0.051,2898,3395,2189,0,0,0,0,0,0
$GC,6981,0.74,146.0,204.5,12.6,365,6985,0.00,2.20,0.00,0.000,6,0.000,0.042,2907,1980,2189,0,0,0,0,0,0
$GC,7308,0.74,146.0,168.2,10.9,394,7312,0.00,2.22,0.00,0.000,4,0.000,0.057,2917,569,2189,0,0,0,0,0,0
$GC,7338,0.74,146.0,164.4,12.5,396,7343,0.15,2.20,0.00,0.000,6,0.133,0.038,2875,1994,2188,0,0,0,0,0,0
$GC,7665,0.74,146.0,131.9,9.2,426,7669,0.00,2.15,0.00,0.000,4,0.000,0.051,2874,3385,2188,0,0,0,0,0,0
$GC,7727,0.74,146.0,125.7,10.2,431,7731,0.00,2.20,0.00,0.000,6,0.000,0.041,2883,1980,2187,0,0,0,0,0,0
$GC,8054,0.74,146.0,91.2,10.4,461,8058,0.00,2.20,0.00,0.000,4,0.000,0.051,2882,3389,2187,0,0,0,0,0,0
$GC,8117,0.74,146.0,84.1,12.2,466,8121,0.00,2.17,0.00,0.000,6,0.000,0.039,2893,1978,2188,0,0,0,0,0,0
$GC,8448,0.80,195.0,54.3,7.0,523,8495,0.00,2.28,39.60,0.497,4,0.000,0.050,2893,3385,2002,0,0,0,0,0,0
$GC,8565,0.80,195.0,44.1,10.0,543,8570,0.00,2.20,0.00,0.000,6,0.000,0.039,2901,1978,2001,0,0,0,0,0,0
$GC,8893,0.80,195.0,16.4,10.0,604,8900,0.00,2.30,0.00,0.000,4,0.000,0.058,2901,3385,2000,0,0,0,0,0,0
$GC,8936,0.80,195.0,12.4,9.8,611,8943,0.00,2.25,0.00,0.000,6,0.000,0.047,2907,1983,2000,0,0,0,0,0,0
$STATE,9016,end climb,SURFACE_DEPTH_REACHED
$STATE,9016,begin surface coast
$FINISH,0.9,1.023294
$STATE,9045,end surface coast,CONTROL_FINISHED_OK
$STATE,9046,begin surface
$SM_CCo,9063,48.22,0.440,0,0,1574,300.24
$SM_GC,1.39,0.00,0.00,48.22,0.000,0.000,0.440,40,1968,1574,-8.13,0.31,300.24
$IRIDIUM_FIX,2047.91,-15747.49,030902,000029
$TT8_MAMPS,0.028379
$HUMID,65.98
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.6,34.932
$10V_AH,10.5,38.376
$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,18.850,75.725,287.300,48.225,0.000,27.855,40.793,163.307,19.000,0.000,20.541,1170.552,5254.465,417.160,2157.842,476.848,0.000,1151.578,0.000,2101.901,0.000,121.507,0.000
$DEVICE_MAMPS,223.964,58.292,765.466,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,428.674,355.672,1239.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,35031,631
$CAP_FILE_SIZE,97747,0
$CFSIZE,260165632,234921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,055135,2101.365,-15755.572,37,1.0,37,9.8