version: 66.06
glider: 523
mission: 4
dive: 426
start: 6 9 113 8 55 21
data:
$ID,523
$MISSION,4
$DIVE,426
$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,-44434.824
$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,32
$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
$GPS1,083812,2102.107,-15756.290,24,1.7,24,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.9
$GPS2,085503,2102.019,-15756.395,41,0.9,41,9.8
$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,310.3,15254,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-76.78,0.000,6,0.000,0.000,41,1965,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.1,13,118,9.48,2.20,0.00,0.000,4,0.224,0.044,2382,3368,3394,0,0,0,0,0,0
$GC,287,-0.74,-146.0,42.5,-15.9,47,292,0.00,2.22,0.00,0.000,6,0.000,0.040,2382,1958,3395,0,0,0,0,0,0
$GC,619,-0.74,-146.0,88.8,-13.8,102,626,0.00,2.20,0.00,0.000,4,0.000,0.051,2373,3360,3396,0,0,0,0,0,0
$GC,723,-0.74,-146.0,102.4,-11.0,111,731,0.00,2.22,0.00,0.000,6,0.000,0.044,2373,1964,3396,0,0,0,0,0,0
$GC,1050,-0.74,-146.0,143.3,-11.9,142,1054,0.00,2.22,0.00,0.000,4,0.000,0.054,2373,541,3397,0,0,0,0,0,0
$GC,1267,-0.74,-146.0,169.3,-11.2,161,1272,0.15,2.15,0.00,0.000,6,0.162,0.031,2402,1965,3397,0,0,0,0,0,0
$GC,1600,-0.74,-146.0,199.5,-9.0,192,1604,0.00,2.25,0.00,0.000,4,0.000,0.051,2403,540,3396,0,0,0,0,0,0
$GC,1744,-0.74,-146.0,214.8,-10.0,199,1749,0.00,2.15,0.00,0.000,6,0.000,0.034,2394,1966,3397,0,0,0,0,0,0
$GC,2065,-0.74,-146.0,246.8,-9.9,215,2069,0.00,2.28,0.00,0.000,4,0.000,0.051,2394,536,3397,0,0,0,0,0,0
$GC,2215,-0.74,-146.0,259.4,-7.6,221,2219,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1965,3396,0,0,0,0,0,0
$GC,2533,-0.74,-146.0,283.4,-8.1,236,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1966,3397,0,0,0,0,0,0
$GC,2840,-0.74,-146.0,307.5,-7.6,249,2844,0.00,2.30,0.00,0.000,4,0.000,0.053,2384,541,3396,0,0,0,0,0,0
$GC,3099,-0.74,-146.0,322.8,-5.9,254,3103,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1967,3396,0,0,0,0,0,0
$GC,3432,-0.74,-146.0,344.0,-6.5,262,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1969,3394,0,0,0,0,0,0
$GC,3756,-0.74,-146.0,364.4,-6.0,270,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1969,3392,0,0,0,0,0,0
$GC,4081,-0.74,-146.0,384.6,-6.7,278,4085,0.00,2.33,0.00,0.000,4,0.000,0.056,2374,544,3390,0,0,0,0,0,0
$GC,4147,-0.74,-146.0,389.0,-5.8,279,4152,0.12,2.17,0.00,0.000,6,0.162,0.038,2397,1955,3389,0,0,0,0,0,0
$GC,4497,-0.74,-146.0,408.4,-6.4,288,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1955,3387,0,0,0,0,0,0
$GC,4820,-0.74,-146.0,430.9,-7.1,296,4824,0.00,2.30,0.00,0.000,4,0.000,0.059,2398,544,3385,0,0,0,0,0,0
$GC,4985,-0.74,-146.0,443.3,-7.5,299,4989,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1955,3384,0,0,0,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5110,begin apogee
$GC,5116,-0.17,0.0,452.2,6.8,302,5238,0.60,0.00,118.95,0.769,6,0.120,0.000,2581,1955,2799,0,0,0,0,0,0
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5242,0.74,146.0,452.8,0.0,305,5377,0.88,2.40,126.75,0.743,4,0.076,0.053,2878,3382,2203,0,0,0,0,0,0
$GC,5401,0.74,146.0,435.5,14.4,309,5405,0.00,2.30,0.00,0.000,6,0.000,0.041,2887,1979,2200,0,0,0,0,0,0
$GC,5720,0.74,146.0,390.4,13.9,317,5724,0.00,2.30,0.00,0.000,4,0.000,0.059,2897,566,2196,0,0,0,0,0,0
$GC,5747,0.74,146.0,386.6,13.6,317,5752,0.00,2.25,0.00,0.000,6,0.000,0.041,2897,1985,2196,0,0,0,0,0,0
$GC,6078,0.74,146.0,335.3,15.9,325,6082,0.00,2.22,0.00,0.000,4,0.000,0.053,2898,3392,2194,0,0,0,0,0,0
$GC,6191,0.74,146.0,317.5,15.0,327,6195,0.00,2.25,0.00,0.000,6,0.000,0.041,2907,1975,2192,0,0,0,0,0,0
$GC,6510,0.74,146.0,273.3,13.8,340,6514,0.00,2.28,0.00,0.000,4,0.000,0.061,2915,562,2191,0,0,0,0,0,0
$GC,6559,0.74,146.0,266.2,13.1,342,6564,0.12,2.22,0.00,0.000,6,0.143,0.039,2881,1992,2191,0,0,0,0,0,0
$GC,6875,0.74,146.0,231.2,11.7,357,6879,0.00,2.17,0.00,0.000,4,0.000,0.052,2882,3392,2189,0,0,0,0,0,0
$GC,6930,0.74,146.0,224.3,11.8,359,6936,0.00,2.20,0.00,0.000,6,0.000,0.040,2889,1974,2189,0,0,0,0,0,0
$GC,7250,0.74,146.0,188.6,10.9,379,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1974,2188,0,0,0,0,0,0
$GC,7571,0.74,146.0,154.3,10.3,409,7575,0.00,2.22,0.00,0.000,4,0.000,0.059,2900,563,2188,0,0,0,0,0,0
$GC,7687,0.74,146.0,142.2,10.4,419,7691,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1983,2188,0,0,0,0,0,0
$GC,8014,0.74,146.0,109.8,9.9,449,8018,0.00,2.20,0.00,0.000,4,0.000,0.051,2900,3395,2188,0,0,0,0,0,0
$GC,8044,0.74,146.0,106.9,10.4,451,8048,0.12,2.20,0.00,0.000,6,0.146,0.040,2874,1971,2187,0,0,0,0,0,0
$GC,8368,0.74,146.0,76.5,9.2,484,8376,0.00,2.25,0.00,0.000,4,0.000,0.052,2874,3377,2188,0,0,0,0,0,0
$GC,8457,0.74,146.0,67.5,10.0,500,8465,0.00,2.22,0.00,0.000,6,0.000,0.045,2881,1985,2187,0,0,0,0,0,0
$GC,8795,0.78,183.6,39.2,7.5,561,8830,0.00,2.25,30.15,0.475,4,0.000,0.053,2881,3389,2050,0,0,0,0,0,0
$GC,8888,0.79,189.0,31.5,8.8,577,8901,0.00,2.22,5.78,0.382,6,0.000,0.038,2889,1970,2029,0,0,0,0,0,0
$GC,9216,0.79,189.0,5.1,9.7,639,9224,0.00,2.25,0.00,0.000,4,0.000,0.057,2899,573,2027,0,0,0,0,0,0
$STATE,9240,end climb,SURFACE_DEPTH_REACHED
$STATE,9240,begin surface coast
$FINISH,2.4,1.023319
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9267,52.33,0.437,0,0,1574,300.24
$SM_GC,1.38,0.00,0.00,52.33,0.000,0.000,0.437,45,1962,1574,-8.11,0.14,300.24
$IRIDIUM_FIX,2057.14,-15753.90,030902,080829
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.5,56.7
$24V_AH,24.6,35.125
$10V_AH,10.4,38.577
$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,19.050,80.350,281.625,52.325,0.000,119.876,150.007,377.408,16.750,0.000,43.500,1177.428,5696.988,405.817,2132.980,917.105,0.000,1128.470,0.000,2064.795,0.000,104.807,0.000
$DEVICE_MAMPS,223.964,60.593,769.301,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,437.521,361.645,1261.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,35002,644
$CAP_FILE_SIZE,106518,0
$CFSIZE,260165632,234811392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,113135,2102.625,-15757.259,14,0.9,14,9.8