version: 66.06
glider: 523
mission: 4
dive: 429
start: 6 9 113 16 55 40
data:
$ID,523
$MISSION,4
$DIVE,429
$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,-44491.91
$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
$GPS1,164918,2104.042,-15800.144,18,1.6,18,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.1
$GPS2,165524,2104.060,-15800.188,19,1.7,19,9.8
$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,327.9,8554,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.22,0.000,2,0.000,0.000,33,1965,3361,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.1,12,115,9.50,2.28,-0.75,0.000,4,0.224,0.064,2381,3371,3397,0,0,0,0,0,0
$GC,269,-0.74,-146.0,34.8,-15.9,43,275,0.00,2.25,0.00,0.000,6,0.000,0.047,2381,1960,3399,0,0,0,0,0,0
$GC,607,-0.74,-146.0,86.3,-13.4,101,611,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,542,3400,0,0,0,0,0,0
$GC,860,-0.74,-146.0,120.1,-13.4,123,867,0.00,2.17,0.00,0.000,6,0.000,0.033,2372,1962,3401,0,0,0,0,0,0
$GC,1188,-0.74,-146.0,158.9,-11.2,154,1192,0.10,2.30,0.00,0.000,4,0.175,0.051,2397,543,3402,0,0,0,0,0,0
$GC,1230,-0.74,-146.0,164.1,-11.2,157,1238,0.00,2.17,0.00,0.000,6,0.000,0.033,2390,1961,3402,0,0,0,0,0,0
$GC,1557,-0.74,-146.0,197.1,-9.7,188,1561,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3355,3402,0,0,0,0,0,0
$GC,1657,-0.74,-146.0,206.0,-8.4,193,1662,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1953,3402,0,0,0,0,0,0
$GC,1977,-0.74,-146.0,236.7,-11.2,209,1981,0.00,2.28,0.00,0.000,4,0.000,0.053,2379,536,3403,0,0,0,0,0,0
$GC,2235,-0.74,-146.0,265.8,-10.4,220,2241,0.12,2.15,0.00,0.000,6,0.170,0.033,2401,1959,3403,0,0,0,0,0,0
$GC,2553,-0.74,-146.0,291.0,-7.8,236,2557,0.00,2.28,0.00,0.000,4,0.000,0.054,2401,547,3403,0,0,0,0,0,0
$GC,2812,-0.74,-146.0,310.0,-6.6,244,2818,0.00,2.15,0.00,0.000,6,0.000,0.034,2393,1962,3403,0,0,0,0,0,0
$GC,3147,-0.74,-146.0,330.7,-6.3,253,3151,0.00,2.33,0.00,0.000,4,0.000,0.054,2393,544,3402,0,0,0,0,0,0
$GC,3243,-0.74,-146.0,339.5,-9.3,255,3248,0.00,2.17,0.00,0.000,6,0.000,0.035,2383,1963,3402,0,0,0,0,0,0
$GC,3565,-0.74,-146.0,363.8,-6.9,263,3569,0.00,2.33,0.00,0.000,4,0.000,0.055,2384,543,3401,0,0,0,0,0,0
$GC,3751,-0.74,-146.0,376.8,-7.2,267,3756,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1966,3399,0,0,0,0,0,0
$GC,4065,-0.74,-146.0,397.8,-6.6,275,4069,0.00,2.33,0.00,0.000,4,0.000,0.058,2374,545,3398,0,0,0,0,0,0
$GC,4105,-0.74,-146.0,400.9,-7.8,276,4110,0.15,2.17,0.00,0.000,6,0.154,0.039,2405,1964,3397,0,0,0,0,0,0
$GC,4432,-0.74,-146.0,424.2,-7.2,284,4436,0.00,2.22,0.00,0.000,4,0.000,0.057,2396,3369,3396,0,0,0,0,0,0
$GC,4521,-0.74,-146.0,431.2,-7.1,286,4525,0.00,2.25,0.00,0.000,6,0.000,0.044,2396,1950,3395,0,0,0,0,0,0
$STATE,4837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4837,begin apogee
$GC,4844,-0.17,0.0,451.6,5.9,294,4968,0.57,0.00,121.00,0.765,6,0.117,0.000,2581,1950,2800,0,0,0,0,0,0
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4972,0.74,146.0,452.0,0.0,297,5110,0.85,2.50,126.28,0.739,4,0.085,0.051,2869,3396,2202,0,0,0,0,0,0
$GC,5241,0.74,146.0,419.3,13.5,303,5245,0.00,2.30,0.00,0.000,6,0.000,0.047,2879,1981,2198,0,0,0,0,0,0
$GC,5554,0.74,146.0,371.5,16.4,311,5558,0.00,2.30,0.00,0.000,4,0.000,0.057,2879,3390,2195,0,0,0,0,0,0
$GC,5610,0.74,146.0,361.7,16.8,312,5615,0.00,2.25,0.00,0.000,6,0.000,0.041,2889,1977,2194,0,0,0,0,0,0
$GC,5958,0.74,146.0,311.9,12.9,321,5963,0.00,2.25,0.00,0.000,4,0.000,0.061,2899,572,2192,0,0,0,0,0,0
$GC,5986,0.74,146.0,308.0,13.6,321,5990,0.00,2.22,0.00,0.000,6,0.000,0.044,2899,1982,2192,0,0,0,0,0,0
$GC,6301,0.74,146.0,268.4,13.0,334,6305,0.00,2.22,0.00,0.000,4,0.000,0.053,2899,3398,2191,0,0,0,0,0,0
$GC,6350,0.74,146.0,261.4,13.5,336,6355,0.12,2.25,0.00,0.000,6,0.154,0.043,2874,1973,2191,0,0,0,0,0,0
$GC,6667,0.75,155.0,229.3,8.7,351,6680,0.00,2.30,6.82,0.545,4,0.000,0.051,2874,3390,2167,0,0,0,0,0,0
$GC,6710,0.75,155.0,225.0,10.2,353,6714,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1977,2166,0,0,0,0,0,0
$GC,7029,0.75,155.0,195.5,9.2,370,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1978,2165,0,0,0,0,0,0
$GC,7349,0.75,155.0,162.3,9.5,400,7353,0.00,2.25,0.00,0.000,4,0.000,0.051,2881,3399,2164,0,0,0,0,0,0
$GC,7412,0.75,155.0,156.4,9.6,405,7416,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1980,2164,0,0,0,0,0,0
$GC,7739,0.75,156.6,127.3,9.0,435,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,2164,0,0,0,0,0,0
$GC,8059,0.75,156.6,96.6,9.7,465,8063,0.00,2.28,0.00,0.000,4,0.000,0.055,2903,566,2164,0,0,0,0,0,0
$GC,8165,0.75,156.6,85.8,10.6,474,8169,0.00,2.17,0.00,0.000,6,0.000,0.036,2902,1995,2163,0,0,0,0,0,0
$GC,8498,0.75,158.7,57.4,8.9,529,8510,0.00,0.00,4.55,0.367,6,0.000,0.000,2902,1995,2152,0,0,0,0,0,0
$GC,8837,0.77,172.9,27.1,8.4,591,8858,0.00,2.35,14.20,0.441,4,0.000,0.061,2909,570,2093,0,0,0,0,0,0
$GC,8996,0.77,172.9,14.0,9.3,620,9003,0.00,2.20,0.00,0.000,6,0.000,0.038,2909,1980,2092,0,0,0,0,0,0
$STATE,9132,end climb,SURFACE_DEPTH_REACHED
$STATE,9132,begin surface coast
$FINISH,0.5,1.001476
$STATE,9172,end surface coast,CONTROL_FINISHED_OK
$STATE,9172,begin surface
$SM_CCo,9190,58.47,0.432,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,58.47,0.000,0.000,0.432,37,1978,1574,-8.14,0.62,300.24
$IRIDIUM_FIX,2052.52,-15757.78,030902,141453
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.5,35.364
$10V_AH,10.4,38.859
$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,18.800,80.925,272.850,58.475,0.000,25.254,35.766,167.650,19.250,0.000,20.324,1208.759,5284.598,389.161,2249.153,480.832,0.000,1162.449,0.000,2195.949,0.000,121.508,0.000
$DEVICE_MAMPS,223.964,64.428,764.699,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,443.820,376.583,1301.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,35024,653
$CAP_FILE_SIZE,102110,0
$CFSIZE,260165632,234672128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,193104,2105.064,-15800.789,36,0.8,36,9.8