version: 66.06
glider: 523
mission: 4
dive: 430
start: 6 9 113 19 40 52
data:
$ID,523
$MISSION,4
$DIVE,430
$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,-44512.34
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,193104,2105.064,-15800.789,36,0.8,36,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.0
$GPS2,194036,2104.956,-15800.744,19,0.9,19,9.8
$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,330.2,6659,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-76.72,0.000,6,0.000,0.000,38,1979,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.1,13,118,9.52,2.15,0.00,0.000,4,0.225,0.043,2384,3365,3396,0,0,0,0,0,0
$GC,258,-0.74,-146.0,36.3,-15.0,42,265,0.00,2.28,0.00,0.000,6,0.000,0.041,2384,1952,3399,0,0,0,0,0,0
$GC,593,-0.74,-146.0,84.9,-13.7,100,598,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,548,3399,0,0,0,0,0,0
$GC,758,-0.74,-146.0,107.3,-12.8,115,762,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1969,3399,0,0,0,0,0,0
$GC,1085,-0.74,-146.0,145.0,-11.2,145,1092,0.00,2.30,0.00,0.000,4,0.000,0.052,2375,546,3400,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,168.1,-10.4,162,1278,0.12,2.15,0.00,0.000,6,0.168,0.033,2397,1964,3401,0,0,0,0,0,0
$GC,1601,-0.74,-146.0,199.7,-9.4,192,1606,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,545,3401,0,0,0,0,0,0
$GC,1646,-0.74,-146.0,204.7,-10.9,195,1653,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1959,3401,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,235.3,-8.8,211,1987,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,546,3401,0,0,0,0,0,0
$GC,2090,-0.74,-146.0,245.8,-9.4,216,2094,0.00,2.12,0.00,0.000,6,0.000,0.035,2380,1962,3401,0,0,0,0,0,0
$GC,2416,-0.74,-146.0,273.3,-8.8,232,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1962,3401,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,296.3,-7.7,247,2732,0.00,2.28,0.00,0.000,4,0.000,0.051,2379,540,3401,0,0,0,0,0,0
$GC,2813,-0.74,-146.0,303.5,-8.5,251,2818,0.12,2.17,0.00,0.000,6,0.166,0.035,2402,1968,3401,0,0,0,0,0,0
$GC,3141,-0.74,-146.0,323.3,-5.8,259,3145,0.00,2.17,0.00,0.000,4,0.000,0.055,2393,3361,3401,0,0,0,0,0,0
$GC,3197,-0.74,-146.0,327.0,-6.2,260,3201,0.00,2.20,0.00,0.000,6,0.000,0.041,2393,1951,3400,0,0,0,0,0,0
$GC,3546,-0.74,-146.0,347.1,-5.8,269,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1950,3398,0,0,0,0,0,0
$GC,3871,-0.74,-146.0,365.4,-5.9,277,3875,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,537,3396,0,0,0,0,0,0
$GC,3938,-0.74,-146.0,369.7,-5.6,278,3942,0.00,2.17,0.00,0.000,6,0.000,0.037,2383,1961,3395,0,0,0,0,0,0
$GC,4282,-0.74,-146.0,392.5,-7.7,287,4286,0.00,2.30,0.00,0.000,4,0.000,0.057,2383,541,3394,0,0,0,0,0,0
$GC,4403,-0.74,-146.0,402.3,-7.7,289,4407,0.00,2.20,0.00,0.000,6,0.000,0.039,2374,1965,3393,0,0,0,0,0,0
$GC,4735,-0.74,-146.0,429.5,-8.2,297,4742,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,548,3390,0,0,0,0,0,0
$GC,4921,-0.74,-146.0,445.6,-8.2,301,4926,0.15,2.17,0.00,0.000,6,0.156,0.041,2405,1959,3388,0,0,0,0,0,0
$STATE,4994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4994,begin apogee
$GC,5001,-0.17,0.0,450.4,6.1,303,5124,0.55,0.00,120.15,0.769,6,0.114,0.000,2585,1960,2800,0,0,0,0,0,0
$STATE,5125,end apogee,CONTROL_FINISHED_OK
$STATE,5125,begin climb
$GC,5128,0.74,146.0,451.8,0.0,306,5265,0.82,2.42,126.68,0.740,4,0.080,0.058,2868,3379,2203,0,0,0,0,0,0
$GC,5305,0.74,146.0,435.2,12.2,310,5309,0.00,2.33,0.00,0.000,6,0.000,0.047,2878,1984,2200,0,0,0,0,0,0
$GC,5618,0.74,146.0,394.4,13.2,318,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1984,2196,0,0,0,0,0,0
$GC,5943,0.74,146.0,353.4,13.3,326,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1984,2194,0,0,0,0,0,0
$GC,6268,0.74,146.0,312.8,12.2,334,6271,0.00,2.25,0.00,0.000,4,0.000,0.053,2878,3389,2192,0,0,0,0,0,0
$GC,6340,0.74,146.0,302.7,14.0,335,6345,0.00,2.28,0.00,0.000,6,0.000,0.050,2887,1974,2191,0,0,0,0,0,0
$GC,6661,0.74,146.0,263.9,10.9,350,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1974,2191,0,0,0,0,0,0
$GC,6971,0.74,146.0,229.9,10.0,365,6975,0.00,2.28,0.00,0.000,4,0.000,0.058,2887,3384,2189,0,0,0,0,0,0
$GC,7003,0.74,146.0,226.5,9.8,366,7009,0.00,2.25,0.00,0.000,6,0.000,0.048,2895,1974,2189,0,0,0,0,0,0
$GC,7322,0.74,146.0,196.3,9.6,383,7326,0.00,2.28,0.00,0.000,4,0.000,0.059,2896,3385,2188,0,0,0,0,0,0
$GC,7363,0.74,146.0,192.1,10.7,386,7367,0.00,2.22,0.00,0.000,6,0.000,0.051,2905,1981,2188,0,0,0,0,0,0
$GC,7690,0.74,146.0,157.9,9.8,416,7694,0.00,2.28,0.00,0.000,4,0.000,0.061,2905,3387,2188,0,0,0,0,0,0
$GC,7785,0.74,146.0,148.0,11.3,424,7790,0.12,2.17,0.00,0.000,6,0.149,0.041,2877,1977,2187,0,0,0,0,0,0
$GC,8112,0.74,146.0,119.3,9.7,454,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1977,2187,0,0,0,0,0,0
$GC,8433,0.76,168.8,90.3,8.1,484,8457,0.00,2.25,17.80,0.502,4,0.000,0.054,2886,551,2112,0,0,0,0,0,0
$GC,8550,0.83,218.8,81.6,7.0,494,8604,0.00,2.20,42.92,0.509,6,0.000,0.035,2886,1981,1907,0,0,0,0,0,0
$GC,8936,0.85,238.3,47.3,8.2,561,8961,0.00,2.25,17.48,0.459,4,0.000,0.049,2887,3405,1828,0,0,0,0,0,0
$GC,9107,0.85,238.3,31.4,9.6,592,9114,0.00,2.30,0.00,0.000,6,0.000,0.044,2889,1981,1827,0,0,0,0,0,0
$GC,9433,0.87,252.8,5.5,8.4,653,9454,0.00,0.00,14.02,0.417,6,0.000,0.000,2889,1980,1769,0,0,0,0,0,0
$STATE,9470,end climb,SURFACE_DEPTH_REACHED
$STATE,9470,begin surface coast
$FINISH,0.6,1.023062
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9531,23.10,0.420,0,0,1574,300.24
$SM_GC,1.61,0.00,0.00,23.10,0.000,0.000,0.420,36,1976,1574,-8.14,0.54,300.24
$IRIDIUM_FIX,2052.52,-15819.63,030902,191959
$TT8_MAMPS,0.028379
$HUMID,64.37
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,35.455
$10V_AH,10.4,38.958
$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,18.675,76.100,339.050,23.100,0.000,49.839,78.787,238.747,19.000,0.000,19.799,1198.604,5713.188,400.470,2166.686,643.572,0.000,1162.373,0.000,2127.042,0.000,122.019,0.000
$DEVICE_MAMPS,224.731,60.593,768.534,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,453.166,384.683,1315.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38138,667
$CAP_FILE_SIZE,103772,0
$CFSIZE,260165632,234614784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,222059,2106.175,-15801.361,14,1.5,14,9.8