version: 66.06
glider: 523
mission: 4
dive: 425
start: 6 9 113 6 4 36
data:
$ID,523
$MISSION,4
$DIVE,425
$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,-44390.695
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,055135,2101.365,-15755.572,37,1.0,37,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.9
$GPS2,060417,2101.371,-15755.721,17,1.2,17,9.8
$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,309.8,16923,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.62,0.000,2,0.000,0.000,40,1968,3364,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.6,12,113,9.52,2.17,-0.68,0.000,4,0.225,0.058,2382,3362,3395,0,0,0,0,0,0
$GC,355,-0.74,-146.0,51.9,-13.9,59,360,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1947,3397,0,0,0,0,0,0
$GC,689,-0.74,-146.0,94.6,-11.8,110,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1947,3398,0,0,0,0,0,0
$GC,1007,-0.74,-146.0,134.7,-11.2,140,1014,0.00,2.22,0.00,0.000,4,0.000,0.054,2382,545,3399,0,0,0,0,0,0
$GC,1045,-0.74,-146.0,139.0,-12.1,143,1050,0.12,2.12,0.00,0.000,6,0.164,0.034,2404,1959,3399,0,0,0,0,0,0
$GC,1372,-0.74,-146.0,169.1,-9.2,173,1376,0.00,2.28,0.00,0.000,4,0.000,0.051,2405,542,3399,0,0,0,0,0,0
$GC,1457,-0.74,-146.0,177.3,-9.9,180,1461,0.00,2.15,0.00,0.000,6,0.000,0.034,2396,1958,3399,0,0,0,0,0,0
$GC,1780,-0.74,-146.0,208.4,-9.7,206,1784,0.00,2.30,0.00,0.000,4,0.000,0.051,2396,533,3399,0,0,0,0,0,0
$GC,1932,-0.74,-146.0,222.3,-8.3,213,1936,0.00,2.15,0.00,0.000,6,0.000,0.034,2386,1962,3399,0,0,0,0,0,0
$GC,2261,-0.74,-146.0,251.5,-9.2,229,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3399,0,0,0,0,0,0
$GC,2568,-0.74,-146.0,278.0,-7.7,244,2572,0.00,2.28,0.00,0.000,4,0.000,0.050,2386,537,3399,0,0,0,0,0,0
$GC,2723,-0.74,-146.0,291.9,-9.2,251,2728,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1969,3399,0,0,0,0,0,0
$GC,3046,-0.74,-146.0,317.6,-8.2,262,3050,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,545,3399,0,0,0,0,0,0
$GC,3276,-0.74,-146.0,337.1,-8.5,267,3281,0.12,2.15,0.00,0.000,6,0.162,0.037,2399,1964,3399,0,0,0,0,0,0
$GC,3592,-0.74,-146.0,355.4,-5.4,275,3596,0.00,2.28,0.00,0.000,4,0.000,0.054,2400,541,3397,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,376.0,-9.0,280,3856,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1954,3395,0,0,0,0,0,0
$GC,4182,-0.74,-146.0,402.9,-8.1,289,4186,0.00,2.28,0.00,0.000,4,0.000,0.057,2391,546,3393,0,0,0,0,0,0
$GC,4418,-0.74,-146.0,420.6,-6.3,294,4422,0.00,2.20,0.00,0.000,6,0.000,0.040,2381,1968,3392,0,0,0,0,0,0
$GC,4733,-0.74,-146.0,438.9,-6.0,302,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1968,3390,0,0,0,0,0,0
$STATE,4932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4932,begin apogee
$GC,4939,-0.17,0.0,451.4,6.2,307,5062,0.62,0.00,120.00,0.764,6,0.123,0.000,2579,1968,2799,0,0,0,0,0,0
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5066,0.74,146.0,451.9,0.0,310,5199,0.88,2.33,126.45,0.738,4,0.080,0.053,2874,3383,2204,0,0,0,0,0,0
$GC,5241,0.74,146.0,430.4,15.1,314,5245,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1980,2200,0,0,0,0,0,0
$GC,5577,0.74,146.0,385.0,12.6,323,5581,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,568,2196,0,0,0,0,0,0
$GC,5616,0.74,146.0,379.6,13.8,324,5621,0.00,2.25,0.00,0.000,6,0.000,0.042,2893,1987,2196,0,0,0,0,0,0
$GC,5941,0.74,146.0,333.1,15.1,332,5945,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3393,2194,0,0,0,0,0,0
$GC,6002,0.74,146.0,322.9,15.6,333,6006,0.00,2.28,0.00,0.000,6,0.000,0.049,2900,1979,2193,0,0,0,0,0,0
$GC,6332,0.74,146.0,274.5,13.8,345,6336,0.00,2.25,0.00,0.000,4,0.000,0.059,2910,564,2192,0,0,0,0,0,0
$GC,6381,0.74,146.0,267.6,13.7,347,6386,0.12,2.22,0.00,0.000,6,0.145,0.039,2876,1994,2191,0,0,0,0,0,0
$GC,6697,0.74,146.0,230.0,11.3,362,6701,0.00,2.17,0.00,0.000,4,0.000,0.052,2876,3384,2190,0,0,0,0,0,0
$GC,6730,0.74,146.0,226.2,11.8,363,6736,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1966,2190,0,0,0,0,0,0
$GC,7049,0.74,146.0,191.5,10.2,382,7053,0.00,2.22,0.00,0.000,4,0.000,0.059,2894,575,2189,0,0,0,0,0,0
$GC,7090,0.74,146.0,187.1,10.9,385,7094,0.00,2.17,0.00,0.000,6,0.000,0.038,2895,1980,2189,0,0,0,0,0,0
$GC,7417,0.74,146.0,154.9,9.9,415,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1981,2189,0,0,0,0,0,0
$GC,7737,0.74,146.0,124.5,9.9,445,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1981,2189,0,0,0,0,0,0
$GC,8068,0.74,146.0,94.0,9.7,476,8072,0.00,2.17,0.00,0.000,4,0.000,0.051,2894,3389,2189,0,0,0,0,0,0
$GC,8142,0.74,146.0,84.9,11.5,482,8150,0.00,2.22,0.00,0.000,6,0.000,0.038,2904,1977,2188,0,0,0,0,0,0
$GC,8475,0.74,146.0,51.1,9.8,539,8481,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,3392,2188,0,0,0,0,0,0
$GC,8608,0.74,146.0,35.5,11.4,563,8615,0.12,2.22,0.00,0.000,6,0.143,0.045,2876,1979,2188,0,0,0,0,0,0
$GC,8933,0.76,165.6,11.6,8.2,624,8954,0.00,2.22,15.77,0.434,4,0.000,0.051,2876,3394,2123,0,0,0,0,0,0
$GC,8979,0.81,209.2,8.4,7.2,631,9025,0.00,2.25,37.40,0.447,6,0.000,0.042,2883,1975,1946,0,0,0,0,0,0
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9051,begin surface coast
$FINISH,0.6,1.023427
$STATE,9092,end surface coast,CONTROL_FINISHED_OK
$STATE,9092,begin surface
$SM_CCo,9110,41.97,0.430,0,0,1576,300.24
$SM_GC,1.32,0.00,0.00,41.97,0.000,0.000,0.430,41,1969,1576,-8.12,0.34,300.24
$IRIDIUM_FIX,2057.14,-15756.04,030902,060642
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.6,35.025
$10V_AH,10.4,38.477
$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,18.825,75.750,299.625,41.975,0.000,77.049,103.867,309.268,19.250,0.000,17.572,1185.837,5394.376,394.575,2183.715,755.958,0.000,1134.559,0.000,2134.434,0.000,117.253,0.000
$DEVICE_MAMPS,225.498,60.593,763.932,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,441.705,375.321,1321.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34904,650
$CAP_FILE_SIZE,104869,0
$CFSIZE,260165632,234864640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,083812,2102.107,-15756.290,24,1.7,24,9.8