version: 66.06
glider: 523
mission: 4
dive: 470
start: 6 14 113 10 12 35
data:
$ID,523
$MISSION,4
$DIVE,470
$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,-45396.402
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,100534,2058.644,-15750.329,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.7
$GPS2,101218,2058.698,-15750.402,15,1.3,15,9.8
$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,301.7,26913,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.95,0.000,6,0.000,0.000,49,1965,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,4.1,-7.0,12,112,9.55,2.20,0.00,0.000,4,0.226,0.046,2385,3375,3397,0,0,0,0,0,0
$GC,259,-0.74,-146.0,38.5,-17.6,41,265,0.00,2.25,0.00,0.000,6,0.000,0.043,2385,1953,3399,0,0,0,0,0,0
$GC,595,-0.74,-146.0,89.2,-13.3,97,599,0.00,2.22,0.00,0.000,4,0.000,0.056,2385,541,3400,0,0,0,0,0,0
$GC,848,-0.74,-146.0,120.5,-11.7,120,852,0.00,2.15,0.00,0.000,6,0.000,0.033,2376,1965,3401,0,0,0,0,0,0
$GC,1181,-0.74,-146.0,154.7,-10.1,151,1188,0.00,2.30,0.00,0.000,4,0.000,0.051,2376,540,3402,0,0,0,0,0,0
$GC,1436,-0.74,-146.0,182.3,-10.8,174,1440,0.12,2.15,0.00,0.000,6,0.165,0.033,2398,1959,3403,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,212.2,-8.1,198,1771,0.00,2.28,0.00,0.000,4,0.000,0.051,2398,542,3403,0,0,0,0,0,0
$GC,1918,-0.74,-146.0,226.7,-10.1,205,1922,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1961,3403,0,0,0,0,0,0
$GC,2249,-0.74,-146.0,256.3,-8.2,221,2253,0.00,2.25,0.00,0.000,4,0.000,0.051,2390,545,3403,0,0,0,0,0,0
$GC,2289,-0.74,-146.0,259.3,-6.9,223,2293,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1956,3403,0,0,0,0,0,0
$GC,2617,-0.74,-146.0,282.1,-7.5,239,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1956,3403,0,0,0,0,0,0
$GC,2926,-0.74,-146.0,307.9,-8.2,252,2930,0.00,2.28,0.00,0.000,4,0.000,0.053,2380,538,3403,0,0,0,0,0,0
$GC,3094,-0.74,-146.0,321.6,-8.5,255,3100,0.12,2.17,0.00,0.000,6,0.166,0.035,2403,1961,3402,0,0,0,0,0,0
$GC,3427,-0.74,-146.0,343.3,-6.1,264,3431,0.00,2.17,0.00,0.000,4,0.000,0.054,2394,3361,3401,0,0,0,0,0,0
$GC,3518,-0.74,-146.0,349.3,-6.7,266,3522,0.00,2.22,0.00,0.000,6,0.000,0.041,2394,1945,3401,0,0,0,0,0,0
$GC,3840,-0.74,-146.0,371.4,-6.6,274,3844,0.00,2.22,0.00,0.000,4,0.000,0.057,2394,547,3399,0,0,0,0,0,0
$GC,4009,-0.74,-146.0,385.3,-8.0,277,4013,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1963,3398,0,0,0,0,0,0
$GC,4342,-0.74,-146.0,410.7,-7.5,285,4346,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,549,3396,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,431.0,-7.6,290,4593,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1962,3394,0,0,0,0,0,0
$STATE,4890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4891,begin apogee
$GC,4897,-0.17,0.0,452.4,6.7,298,5021,0.65,0.00,121.18,0.758,6,0.120,0.000,2581,1962,2800,0,0,0,0,0,0
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5025,0.74,146.0,453.4,0.0,301,5160,0.88,2.40,126.80,0.732,4,0.074,0.055,2880,3378,2203,0,0,0,0,0,0
$GC,5219,0.74,146.0,432.0,13.1,306,5223,0.00,2.30,0.00,0.000,6,0.000,0.044,2889,1979,2200,0,0,0,0,0,0
$GC,5549,0.74,146.0,390.7,12.5,314,5554,0.00,2.33,0.00,0.000,4,0.000,0.064,2899,565,2196,0,0,0,0,0,0
$GC,5571,0.74,146.0,387.5,13.7,314,5575,0.00,2.22,0.00,0.000,6,0.000,0.039,2899,1982,2195,0,0,0,0,0,0
$GC,5908,0.74,146.0,340.4,13.7,323,5912,0.00,2.25,0.00,0.000,4,0.000,0.059,2899,3385,2193,0,0,0,0,0,0
$GC,5959,0.74,146.0,333.4,13.3,324,5963,0.12,2.25,0.00,0.000,6,0.157,0.048,2874,1979,2192,0,0,0,0,0,0
$GC,6271,0.74,146.0,300.1,10.6,332,6275,0.00,2.30,0.00,0.000,4,0.000,0.066,2883,570,2191,0,0,0,0,0,0
$GC,6378,0.74,146.0,289.3,10.6,336,6382,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1980,2190,0,0,0,0,0,0
$GC,6704,0.74,146.0,253.4,12.0,352,6709,0.00,2.25,0.00,0.000,4,0.000,0.059,2883,3393,2190,0,0,0,0,0,0
$GC,6816,0.74,146.0,237.5,13.8,357,6820,0.00,2.22,0.00,0.000,6,0.000,0.042,2893,1978,2189,0,0,0,0,0,0
$GC,7141,0.74,146.0,197.4,10.9,374,7145,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,3390,2189,0,0,0,0,0,0
$GC,7192,0.74,146.0,192.1,10.5,378,7196,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1978,2188,0,0,0,0,0,0
$GC,7519,0.74,146.0,161.1,10.2,408,7523,0.00,2.22,0.00,0.000,4,0.000,0.056,2911,566,2188,0,0,0,0,0,0
$GC,7616,0.74,146.0,151.1,10.1,416,7624,0.08,2.20,0.00,0.000,6,0.114,0.036,2883,1977,2187,0,0,0,0,0,0
$GC,7944,0.74,146.0,117.7,10.5,447,7948,0.00,2.20,0.00,0.000,4,0.000,0.051,2882,3397,2187,0,0,0,0,0,0
$GC,7984,0.74,146.0,113.1,11.1,450,7989,0.00,2.25,0.00,0.000,6,0.000,0.048,2890,1981,2187,0,0,0,0,0,0
$GC,8312,0.78,179.5,84.0,7.6,480,8347,0.00,2.30,26.65,0.509,4,0.000,0.059,2900,569,2066,0,0,0,0,0,0
$GC,8383,0.81,204.2,78.4,8.0,487,8412,0.00,2.22,21.98,0.493,6,0.000,0.041,2900,1992,1966,0,0,0,0,0,0
$GC,8741,0.86,243.1,47.4,7.4,552,8783,0.00,2.38,33.83,0.475,4,0.000,0.060,2903,568,1807,0,0,0,0,0,0
$GC,8809,0.92,294.2,42.9,6.9,563,8861,0.00,2.20,44.35,0.466,6,0.000,0.038,2903,1978,1598,0,0,0,0,0,0
$GC,9184,0.98,342.8,10.5,7.0,632,9231,0.15,2.28,40.65,0.437,4,0.063,0.050,3002,3387,1400,0,0,0,0,0,0
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9244,begin surface coast
$FINISH,0.5,1.002636
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9349,0.00,0.000,0,0,1396,344.40
$SM_GC,1.34,7.72,0.00,0.00,0.030,0.000,0.000,37,1943,1396,-7.99,-0.40,344.40
$IRIDIUM_FIX,2052.52,-15754.77,080902,070739
$TT8_MAMPS,0.027612
$HUMID,64.72
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,38.954
$10V_AH,10.4,42.836
$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,19.400,89.625,415.425,0.000,0.000,23.974,39.100,185.163,19.000,0.000,15.415,1180.102,5421.428,423.467,2198.594,522.134,0.000,1232.751,0.000,2149.004,0.000,119.178,0.000
$DEVICE_MAMPS,226.265,65.962,757.796,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,437.285,369.707,1259.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35039,645
$CAP_FILE_SIZE,102949,0
$CFSIZE,260165632,232615936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,124934,2059.077,-15751.261,34,0.9,34,9.8