version: 66.06
glider: 523
mission: 4
dive: 471
start: 6 14 113 12 56 7
data:
$ID,523
$MISSION,4
$DIVE,471
$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,-45416.152
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,124934,2059.077,-15751.261,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.6
$GPS2,125551,2059.155,-15751.271,18,0.9,18,9.8
$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,302.6,25232,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-84.12,0.000,6,0.000,0.000,37,1944,3397,0,0,0,0,0,0
$GC,110,-0.74,-146.0,3.8,-6.6,14,125,9.48,2.25,0.00,0.000,4,0.222,0.044,2382,3370,3398,0,0,0,0,0,0
$GC,270,-0.74,-146.0,38.6,-17.0,43,275,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1955,3400,0,0,0,0,0,0
$GC,600,-0.74,-146.0,85.5,-12.5,100,604,0.00,2.22,0.00,0.000,4,0.000,0.055,2382,544,3401,0,0,0,0,0,0
$GC,850,-0.74,-146.0,119.4,-13.3,122,861,0.00,2.17,0.00,0.000,6,0.000,0.032,2372,1967,3401,0,0,0,0,0,0
$GC,1179,-0.74,-146.0,156.3,-9.4,153,1183,0.10,2.28,0.00,0.000,4,0.171,0.051,2397,545,3402,0,0,0,0,0,0
$GC,1429,-0.74,-146.0,179.9,-9.0,175,1437,0.00,2.17,0.00,0.000,6,0.000,0.033,2389,1965,3402,0,0,0,0,0,0
$GC,1761,-0.74,-146.0,209.4,-8.4,202,1765,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,535,3402,0,0,0,0,0,0
$GC,1852,-0.74,-146.0,217.1,-8.4,206,1855,0.00,2.17,0.00,0.000,6,0.000,0.033,2379,1968,3403,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,248.1,-10.4,222,2177,0.00,2.30,0.00,0.000,4,0.000,0.051,2379,547,3403,0,0,0,0,0,0
$GC,2235,-0.74,-146.0,254.2,-9.3,225,2240,0.12,2.15,0.00,0.000,6,0.167,0.034,2402,1956,3403,0,0,0,0,0,0
$GC,2562,-0.74,-146.0,278.6,-5.9,241,2566,0.00,2.20,0.00,0.000,4,0.000,0.053,2393,3368,3402,0,0,0,0,0,0
$GC,2608,-0.74,-146.0,281.3,-5.9,243,2612,0.00,2.22,0.00,0.000,6,0.000,0.040,2393,1952,3403,0,0,0,0,0,0
$GC,2936,-0.74,-146.0,303.6,-7.5,258,2940,0.00,2.22,0.00,0.000,4,0.000,0.055,2393,549,3402,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,313.7,-8.3,260,3061,0.00,2.15,0.00,0.000,6,0.000,0.035,2383,1959,3402,0,0,0,0,0,0
$GC,3389,-0.74,-146.0,336.7,-6.5,268,3393,0.00,2.28,0.00,0.000,4,0.000,0.055,2382,547,3400,0,0,0,0,0,0
$GC,3648,-0.74,-146.0,356.0,-6.3,273,3652,0.00,2.15,0.00,0.000,6,0.000,0.036,2373,1957,3399,0,0,0,0,0,0
$GC,3980,-0.74,-146.0,375.6,-6.1,281,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1958,3397,0,0,0,0,0,0
$GC,4305,-0.74,-146.0,395.8,-6.4,289,4309,0.00,2.30,0.00,0.000,4,0.000,0.057,2374,540,3395,0,0,0,0,0,0
$GC,4521,-0.74,-146.0,411.5,-7.1,293,4525,0.15,2.17,0.00,0.000,6,0.159,0.039,2405,1956,3393,0,0,0,0,0,0
$GC,4853,-0.74,-146.0,432.6,-6.5,301,4857,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,551,3391,0,0,0,0,0,0
$GC,4920,-0.74,-146.0,437.2,-6.6,302,4924,0.00,2.17,0.00,0.000,6,0.000,0.040,2397,1952,3391,0,0,0,0,0,0
$STATE,5175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5175,begin apogee
$GC,5181,-0.17,0.0,451.3,5.3,309,5305,0.57,0.00,120.72,0.762,6,0.117,0.000,2582,1952,2799,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5306,begin climb
$GC,5309,0.74,146.0,450.7,0.0,312,5440,0.88,0.00,126.90,0.733,6,0.081,0.000,2876,1952,2203,0,0,0,0,0,0
$GC,5741,0.74,146.0,400.3,11.3,323,5745,0.00,2.30,0.00,0.000,4,0.000,0.053,2876,3389,2196,0,0,0,0,0,0
$GC,5820,0.74,146.0,390.9,12.7,324,5826,0.00,2.28,0.00,0.000,6,0.000,0.044,2885,1978,2194,0,0,0,0,0,0
$GC,6152,0.74,146.0,345.5,14.3,333,6156,0.00,2.28,0.00,0.000,4,0.000,0.058,2895,562,2193,0,0,0,0,0,0
$GC,6224,0.74,146.0,334.6,14.2,334,6228,0.00,2.22,0.00,0.000,6,0.000,0.039,2896,1980,2192,0,0,0,0,0,0
$GC,6536,0.74,146.0,292.0,12.6,343,6540,0.00,2.20,0.00,0.000,4,0.000,0.054,2895,3388,2191,0,0,0,0,0,0
$GC,6625,0.74,146.0,280.2,12.8,347,6629,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1981,2190,0,0,0,0,0,0
$GC,6946,0.74,146.0,242.3,11.5,363,6950,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,3389,2189,0,0,0,0,0,0
$GC,6968,0.74,146.0,239.7,11.6,364,6973,0.12,2.25,0.00,0.000,6,0.150,0.048,2880,1981,2189,0,0,0,0,0,0
$GC,7289,0.74,146.0,207.4,10.5,380,7293,0.00,2.28,0.00,0.000,4,0.000,0.059,2889,565,2188,0,0,0,0,0,0
$GC,7311,0.74,146.0,204.9,10.7,381,7315,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1982,2188,0,0,0,0,0,0
$GC,7638,0.74,146.0,169.5,9.3,409,7642,0.00,2.22,0.00,0.000,4,0.000,0.051,2889,3389,2187,0,0,0,0,0,0
$GC,7789,0.74,146.0,154.7,10.5,422,7793,0.00,2.20,0.00,0.000,6,0.000,0.039,2898,1976,2186,0,0,0,0,0,0
$GC,8115,0.74,146.0,123.4,9.3,452,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1976,2187,0,0,0,0,0,0
$GC,8436,0.76,164.1,93.2,8.3,482,8461,0.00,2.30,13.68,0.497,4,0.000,0.058,2909,573,2130,0,0,0,0,0,0
$GC,8542,0.79,190.1,83.9,8.0,491,8573,0.00,2.22,23.60,0.504,6,0.000,0.043,2909,1973,2022,0,0,0,0,0,0
$GC,8898,0.81,205.8,53.0,8.4,552,8917,0.00,2.22,14.45,0.459,4,0.000,0.050,2909,3393,1959,0,0,0,0,0,0
$GC,8954,0.85,240.7,48.5,7.6,561,8990,0.00,2.28,30.80,0.471,6,0.000,0.044,2918,1973,1817,0,0,0,0,0,0
$GC,9314,0.85,240.7,18.3,10.6,627,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1973,1816,0,0,0,0,0,0
$GC,9482,0.85,240.7,4.6,10.2,658,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1973,1816,0,0,0,0,0,0
$STATE,9495,end climb,SURFACE_DEPTH_REACHED
$STATE,9495,begin surface coast
$FINISH,0.5,1.020740
$STATE,9524,end surface coast,CONTROL_FINISHED_OK
$STATE,9524,begin surface
$SM_CCo,9542,27.65,0.421,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,27.65,0.000,0.000,0.421,41,1965,1574,-8.12,0.23,300.24
$IRIDIUM_FIX,2054.83,-15751.76,080902,101023
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.5,39.036
$10V_AH,10.3,42.934
$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,18.700,80.400,330.150,27.650,0.000,37.982,46.754,155.731,19.000,0.000,19.120,1218.600,5577.637,408.318,2234.043,504.922,0.000,1197.665,0.000,2186.762,0.000,119.185,0.000
$DEVICE_MAMPS,221.663,59.059,762.398,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,451.531,376.676,1297.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38267,665
$CAP_FILE_SIZE,103002,0
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,153636,2059.341,-15752.421,20,1.2,20,9.8