version: 66.06
glider: 523
mission: 4
dive: 475
start: 6 15 113 0 14 57
data:
$ID,523
$MISSION,4
$DIVE,475
$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,-45502.777
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,000504,2101.220,-15755.913,55,0.9,55,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.4
$GPS2,001441,2101.234,-15755.998,19,1.2,19,9.8
$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,311.6,16814,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.90,0.000,2,0.000,0.000,39,1963,3376,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.9,12,113,9.57,2.22,-0.40,0.000,4,0.225,0.060,2383,3371,3395,0,0,0,0,0,0
$GC,205,-0.74,-146.0,25.1,-15.5,31,212,0.00,2.30,0.00,0.000,6,0.000,0.046,2383,1958,3397,0,0,0,0,0,0
$GC,375,-0.74,-146.0,54.2,-15.6,62,383,0.00,2.30,0.00,0.000,4,0.000,0.058,2383,551,3397,0,0,0,0,0,0
$GC,494,-0.74,-146.0,73.2,-14.4,83,499,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1962,3397,0,0,0,0,0,0
$GC,822,-0.74,-146.0,114.3,-10.7,118,829,0.00,2.28,0.00,0.000,4,0.000,0.052,2374,544,3398,0,0,0,0,0,0
$GC,1079,-0.74,-146.0,147.1,-14.2,141,1083,0.15,2.15,0.00,0.000,6,0.162,0.032,2403,1963,3399,0,0,0,0,0,0
$GC,1407,-0.74,-146.0,180.1,-8.3,171,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1963,3399,0,0,0,0,0,0
$GC,1740,-0.74,-146.0,207.4,-8.4,199,1744,0.00,2.25,0.00,0.000,4,0.000,0.051,2404,541,3400,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,230.5,-9.2,210,2003,0.00,2.15,0.00,0.000,6,0.000,0.033,2396,1955,3399,0,0,0,0,0,0
$GC,2316,-0.74,-146.0,253.1,-5.7,226,2320,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,542,3399,0,0,0,0,0,0
$GC,2576,-0.74,-146.0,270.1,-6.9,237,2581,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1965,3399,0,0,0,0,0,0
$GC,2894,-0.74,-146.0,293.6,-7.8,253,2898,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,544,3399,0,0,0,0,0,0
$GC,2957,-0.74,-146.0,299.6,-8.6,256,2962,0.00,2.17,0.00,0.000,6,0.000,0.036,2376,1962,3399,0,0,0,0,0,0
$GC,3305,-0.74,-146.0,324.1,-6.9,265,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1963,3398,0,0,0,0,0,0
$GC,3630,-0.74,-146.0,347.0,-6.8,273,3635,0.00,2.33,0.00,0.000,4,0.000,0.058,2376,547,3396,0,0,0,0,0,0
$GC,3698,-0.74,-146.0,353.4,-9.2,274,3702,0.12,2.17,0.00,0.000,6,0.165,0.038,2398,1959,3396,0,0,0,0,0,0
$GC,4039,-0.74,-146.0,382.1,-8.4,283,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1960,3394,0,0,0,0,0,0
$GC,4361,-0.74,-146.0,410.4,-8.6,291,4366,0.00,2.33,0.00,0.000,4,0.000,0.059,2399,547,3392,0,0,0,0,0,0
$GC,4582,-0.74,-146.0,428.9,-7.9,296,4586,0.00,2.20,0.00,0.000,6,0.000,0.041,2391,1956,3390,0,0,0,0,0,0
$GC,4909,-0.74,-146.0,449.1,-5.7,304,4913,0.00,2.35,0.00,0.000,4,0.000,0.063,2391,545,3388,0,0,0,0,0,0
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4933,-0.17,0.0,450.3,5.8,304,5057,0.60,0.00,120.47,0.759,6,0.120,0.000,2578,1980,2799,0,0,0,0,0,0
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5060,0.74,146.0,450.2,0.0,307,5199,0.85,2.38,126.50,0.731,4,0.076,0.051,2873,3385,2202,0,0,0,0,0,0
$GC,5305,0.74,146.0,418.6,15.1,312,5310,0.00,2.28,0.00,0.000,6,0.000,0.041,2882,1978,2199,0,0,0,0,0,0
$GC,5637,0.74,146.0,374.1,13.2,320,5641,0.00,2.28,0.00,0.000,4,0.000,0.059,2893,562,2195,0,0,0,0,0,0
$GC,5664,0.74,146.0,370.5,12.7,320,5668,0.00,2.25,0.00,0.000,6,0.000,0.039,2893,1997,2195,0,0,0,0,0,0
$GC,5995,0.74,146.0,329.1,12.5,328,5999,0.00,2.20,0.00,0.000,4,0.000,0.057,2893,3383,2193,0,0,0,0,0,0
$GC,6154,0.74,146.0,309.2,12.8,331,6158,0.00,2.22,0.00,0.000,6,0.000,0.045,2901,1978,2192,0,0,0,0,0,0
$GC,6479,0.74,146.0,271.6,12.1,345,6483,0.00,2.25,0.00,0.000,4,0.000,0.057,2901,3384,2191,0,0,0,0,0,0
$GC,6551,0.74,146.0,261.5,13.1,348,6556,0.12,2.25,0.00,0.000,6,0.152,0.048,2876,1978,2191,0,0,0,0,0,0
$GC,6867,0.74,146.0,227.5,10.3,363,6871,0.00,2.28,0.00,0.000,4,0.000,0.065,2884,569,2189,0,0,0,0,0,0
$GC,6912,0.74,146.0,222.4,11.0,365,6916,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1983,2189,0,0,0,0,0,0
$GC,7239,0.74,146.0,190.3,9.3,385,7243,0.00,2.22,0.00,0.000,4,0.000,0.058,2884,3387,2188,0,0,0,0,0,0
$GC,7271,0.74,146.0,186.7,9.7,387,7278,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1981,2188,0,0,0,0,0,0
$GC,7598,0.74,146.0,153.2,9.9,418,7602,0.00,2.25,0.00,0.000,4,0.000,0.057,2893,3384,2188,0,0,0,0,0,0
$GC,7650,0.74,146.0,147.6,10.7,422,7654,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1971,2187,0,0,0,0,0,0
$GC,7979,0.80,196.3,121.3,6.9,452,8023,0.00,0.00,40.67,0.549,6,0.000,0.000,2895,1971,1999,0,0,0,0,0,0
$GC,8344,0.80,196.3,94.0,9.3,486,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1971,1996,0,0,0,0,0,0
$GC,8670,0.84,231.3,70.7,7.6,530,8712,0.00,2.35,30.50,0.492,4,0.000,0.052,2895,3393,1854,0,0,0,0,0,0
$GC,8786,0.84,231.3,58.1,11.5,550,8794,0.00,2.28,0.00,0.000,6,0.000,0.042,2902,1983,1853,0,0,0,0,0,0
$GC,9124,0.84,231.3,27.7,9.5,611,9132,0.00,2.33,0.00,0.000,4,0.000,0.060,2911,570,1853,0,0,0,0,0,0
$GC,9151,0.84,231.3,24.3,13.0,615,9158,0.00,2.20,0.00,0.000,6,0.000,0.035,2911,1977,1853,0,0,0,0,0,0
$GC,9321,0.87,255.5,8.1,8.0,646,9348,0.00,2.25,21.50,0.430,4,0.000,0.051,2911,3392,1758,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.5,1.010974
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9451,21.33,0.413,0,0,1576,300.24
$SM_GC,1.79,0.00,0.00,21.33,0.000,0.000,0.413,35,1931,1576,-8.15,-0.74,300.24
$IRIDIUM_FIX,2050.21,-15752.63,080902,212153
$TT8_MAMPS,0.027612
$HUMID,65.00
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,25.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,442.2,51.5
$24V_AH,24.5,39.378
$10V_AH,10.3,43.331
$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,18.700,85.575,339.650,21.325,0.000,60.878,73.598,234.676,18.750,0.000,19.840,1207.260,5555.340,395.360,2239.126,650.020,0.000,1203.409,0.000,2191.906,0.000,117.171,0.000
$DEVICE_MAMPS,224.731,65.195,758.563,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.922,392.823,1334.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38166,665
$CAP_FILE_SIZE,106084,0
$CFSIZE,260165632,232357888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,025349,2101.700,-15756.925,19,1.7,19,9.8