version: 66.06
glider: 523
mission: 4
dive: 431
start: 6 9 113 22 27 40
data:
$ID,523
$MISSION,4
$DIVE,431
$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,-44533.016
$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,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
$GPS1,222059,2106.175,-15801.361,14,1.5,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.9
$GPS2,222724,2106.126,-15801.381,19,0.8,19,9.8
$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,334.1,4256,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.03,0.000,6,0.000,0.000,36,1973,3396,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.6,-5.7,12,114,9.48,2.17,0.00,0.000,4,0.223,0.044,2384,3362,3397,0,0,0,0,0,0
$GC,227,-0.74,-146.0,31.2,-16.3,35,232,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1957,3399,0,0,0,0,0,0
$GC,560,-0.74,-146.0,80.6,-11.2,96,564,0.00,2.28,0.00,0.000,4,0.000,0.056,2384,549,3400,0,0,0,0,0,0
$GC,692,-0.74,-146.0,96.7,-13.0,107,696,0.00,2.12,0.00,0.000,6,0.000,0.033,2375,1962,3400,0,0,0,0,0,0
$GC,1019,-0.74,-146.0,136.6,-12.5,137,1023,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,548,3402,0,0,0,0,0,0
$GC,1116,-0.74,-146.0,149.9,-12.2,145,1124,0.10,2.17,0.00,0.000,6,0.146,0.034,2396,1961,3401,0,0,0,0,0,0
$GC,1444,-0.74,-146.0,183.0,-10.9,176,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1962,3402,0,0,0,0,0,0
$GC,1755,-0.74,-146.0,214.7,-9.6,199,1760,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,548,3403,0,0,0,0,0,0
$GC,1880,-0.74,-146.0,225.8,-8.1,204,1884,0.00,2.12,0.00,0.000,6,0.000,0.034,2388,1954,3403,0,0,0,0,0,0
$GC,2204,-0.74,-146.0,252.8,-8.8,220,2208,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,541,3403,0,0,0,0,0,0
$GC,2462,-0.74,-146.0,274.8,-8.5,231,2468,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1970,3402,0,0,0,0,0,0
$GC,2780,-0.74,-146.0,304.8,-10.4,246,2785,0.00,2.28,0.00,0.000,4,0.000,0.052,2378,545,3403,0,0,0,0,0,0
$GC,2960,-0.74,-146.0,321.8,-8.9,250,2965,0.12,2.15,0.00,0.000,6,0.163,0.036,2401,1961,3402,0,0,0,0,0,0
$GC,3292,-0.74,-146.0,344.6,-7.1,258,3299,0.00,2.28,0.00,0.000,4,0.000,0.054,2402,548,3401,0,0,0,0,0,0
$GC,3395,-0.74,-146.0,353.4,-8.0,260,3399,0.00,2.15,0.00,0.000,6,0.000,0.038,2394,1962,3401,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,368.7,-3.3,268,3718,0.00,2.30,0.00,0.000,4,0.000,0.055,2393,549,3399,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,388.5,-9.1,273,3977,0.00,2.17,0.00,0.000,6,0.000,0.038,2383,1959,3397,0,0,0,0,0,0
$GC,4306,-0.74,-146.0,410.8,-6.1,282,4310,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,547,3395,0,0,0,0,0,0
$GC,4474,-0.74,-146.0,423.5,-7.9,285,4480,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1965,3394,0,0,0,0,0,0
$GC,4807,-0.74,-146.0,448.1,-7.4,294,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,3391,0,0,0,0,0,0
$STATE,4844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4844,begin apogee
$GC,4850,-0.17,0.0,451.2,7.5,295,4974,0.65,0.00,120.47,0.765,6,0.120,0.000,2581,1966,2800,0,0,0,0,0,0
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4978,0.74,146.0,453.0,0.0,298,5111,0.88,2.35,126.57,0.737,4,0.076,0.058,2878,3381,2203,0,0,0,0,0,0
$GC,5181,0.74,146.0,430.5,14.1,303,5186,0.00,2.33,0.00,0.000,6,0.000,0.047,2888,1983,2199,0,0,0,0,0,0
$GC,5494,0.74,146.0,386.7,13.8,311,5499,0.00,2.33,0.00,0.000,4,0.000,0.066,2898,564,2196,0,0,0,0,0,0
$GC,5516,0.74,146.0,383.7,13.1,311,5521,0.00,2.25,0.00,0.000,6,0.000,0.042,2899,1985,2196,0,0,0,0,0,0
$GC,5854,0.74,146.0,338.1,14.0,320,5858,0.00,2.22,0.00,0.000,4,0.000,0.054,2899,3390,2194,0,0,0,0,0,0
$GC,5915,0.74,146.0,328.8,14.3,321,5919,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1978,2193,0,0,0,0,0,0
$GC,6244,0.74,146.0,285.5,13.3,332,6248,0.00,2.30,0.00,0.000,4,0.000,0.059,2907,3396,2192,0,0,0,0,0,0
$GC,6284,0.74,146.0,279.9,14.0,334,6289,0.12,2.25,0.00,0.000,6,0.154,0.048,2879,1980,2191,0,0,0,0,0,0
$GC,6610,0.74,146.0,243.6,10.4,350,6614,0.00,2.28,0.00,0.000,4,0.000,0.060,2887,564,2190,0,0,0,0,0,0
$GC,6673,0.74,146.0,236.9,10.6,353,6677,0.00,2.22,0.00,0.000,6,0.000,0.041,2887,2000,2190,0,0,0,0,0,0
$GC,6998,0.74,146.0,198.0,11.9,369,7002,0.00,2.15,0.00,0.000,4,0.000,0.053,2887,3380,2189,0,0,0,0,0,0
$GC,7124,0.74,146.0,183.6,11.2,380,7128,0.00,2.22,0.00,0.000,6,0.000,0.048,2896,1978,2188,0,0,0,0,0,0
$GC,7451,0.74,146.0,148.6,11.4,410,7455,0.00,2.25,0.00,0.000,4,0.000,0.056,2895,3379,2189,0,0,0,0,0,0
$GC,7481,0.74,146.0,145.0,12.3,412,7485,0.00,2.22,0.00,0.000,6,0.000,0.048,2904,1980,2188,0,0,0,0,0,0
$GC,7808,0.74,146.0,108.9,11.4,442,7812,0.00,2.25,0.00,0.000,4,0.000,0.058,2905,3380,2188,0,0,0,0,0,0
$GC,7892,0.74,146.0,97.9,14.1,449,7897,0.12,2.20,0.00,0.000,6,0.150,0.045,2876,1974,2188,0,0,0,0,0,0
$GC,8221,0.76,167.4,66.7,8.1,493,8245,0.00,2.25,16.80,0.490,4,0.000,0.055,2885,574,2116,0,0,0,0,0,0
$GC,8281,0.80,195.3,61.9,7.9,503,8317,0.00,2.15,24.80,0.491,6,0.000,0.038,2885,1973,2002,0,0,0,0,0,0
$GC,8649,0.85,235.6,32.3,7.4,569,8691,0.00,2.28,34.62,0.469,4,0.000,0.051,2885,3389,1838,0,0,0,0,0,0
$GC,8769,0.85,235.6,22.8,9.5,590,8776,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1975,1837,0,0,0,0,0,0
$GC,8937,0.86,247.2,9.4,8.6,621,8958,0.00,2.28,11.05,0.414,4,0.000,0.055,2901,573,1791,0,0,0,0,0,0
$GC,9017,0.89,267.8,3.1,8.2,635,9026,0.00,2.22,4.15,0.316,2,0.000,0.037,2901,1986,1776,0,0,0,0,0,0
$STATE,9027,end climb,SURFACE_DEPTH_REACHED
$STATE,9027,begin surface coast
$FINISH,0.6,1.010098
$STATE,9061,end surface coast,CONTROL_FINISHED_OK
$STATE,9061,begin surface
$SM_CCo,9079,23.17,0.424,0,0,1576,300.24
$SM_GC,1.52,0.00,0.00,23.17,0.000,0.000,0.424,42,1987,1576,-8.12,0.85,300.24
$IRIDIUM_FIX,2054.83,-15759.05,030902,191920
$TT8_MAMPS,0.028379
$HUMID,65.43
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,35.539
$10V_AH,10.5,39.052
$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,18.775,89.450,338.475,23.175,0.000,30.587,37.410,180.406,19.250,0.000,20.048,1185.856,5201.319,411.500,2179.531,506.009,0.000,1194.438,0.000,2124.977,0.000,117.279,0.000
$DEVICE_MAMPS,223.197,65.962,764.699,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,435.167,368.752,1251.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34982,642
$CAP_FILE_SIZE,103472,0
$CFSIZE,260165632,234569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,010034,2107.357,-15802.189,33,0.9,33,9.8