version: 66.06
glider: 523
mission: 4
dive: 476
start: 6 15 113 3 6 11
data:
$ID,523
$MISSION,4
$DIVE,476
$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,-45518.914
$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,32
$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
$GPS1,025349,2101.700,-15756.925,19,1.7,19,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.0
$GPS2,030554,2101.746,-15757.051,15,1.9,15,9.8
$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,314.8,14962,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.75,0.000,2,0.000,0.000,34,1931,3372,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.1,12,113,9.65,2.28,-0.47,0.000,4,0.227,0.058,2383,3366,3396,0,0,0,0,0,0
$GC,222,-0.74,-146.0,28.2,-15.9,34,229,0.00,2.22,0.00,0.000,6,0.000,0.043,2383,1972,3397,0,0,0,0,0,0
$GC,395,-0.74,-146.0,57.2,-14.0,65,401,0.00,2.30,0.00,0.000,4,0.000,0.060,2383,545,3397,0,0,0,0,0,0
$GC,637,-0.74,-146.0,92.6,-14.7,102,641,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1963,3398,0,0,0,0,0,0
$GC,964,-0.74,-146.0,139.9,-10.5,132,970,0.00,2.30,0.00,0.000,4,0.000,0.052,2374,534,3399,0,0,0,0,0,0
$GC,1220,-0.74,-146.0,166.7,-11.6,155,1225,0.15,2.15,0.00,0.000,6,0.160,0.031,2404,1973,3399,0,0,0,0,0,0
$GC,1553,-0.74,-146.0,196.6,-9.5,186,1557,0.00,2.30,0.00,0.000,4,0.000,0.050,2404,541,3399,0,0,0,0,0,0
$GC,1606,-0.74,-146.0,201.8,-9.0,190,1610,0.00,2.12,0.00,0.000,6,0.000,0.032,2396,1959,3399,0,0,0,0,0,0
$GC,1925,-0.74,-146.0,223.3,-6.4,205,1929,0.00,2.28,0.00,0.000,4,0.000,0.049,2396,545,3399,0,0,0,0,0,0
$GC,2184,-0.74,-146.0,240.1,-7.6,216,2189,0.00,2.15,0.00,0.000,6,0.000,0.033,2386,1966,3399,0,0,0,0,0,0
$GC,2502,-0.74,-146.0,269.4,-9.3,232,2506,0.00,2.28,0.00,0.000,4,0.000,0.050,2386,534,3399,0,0,0,0,0,0
$GC,2737,-0.74,-146.0,286.2,-5.1,242,2741,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1958,3399,0,0,0,0,0,0
$GC,3075,-0.74,-146.0,306.6,-6.8,256,3079,0.00,2.22,0.00,0.000,4,0.000,0.056,2366,3368,3399,0,0,0,0,0,0
$GC,3231,-0.74,-146.0,318.4,-7.6,259,3236,0.12,2.22,0.00,0.000,6,0.146,0.041,2399,1946,3398,0,0,0,0,0,0
$GC,3578,-0.74,-146.0,341.3,-7.3,268,3582,0.00,2.22,0.00,0.000,4,0.000,0.054,2398,544,3396,0,0,0,0,0,0
$GC,3773,-0.74,-146.0,356.0,-7.7,272,3777,0.00,2.17,0.00,0.000,6,0.000,0.035,2391,1966,3395,0,0,0,0,0,0
$GC,4116,-0.74,-146.0,380.7,-7.2,281,4120,0.00,2.28,0.00,0.000,4,0.000,0.055,2391,544,3393,0,0,0,0,0,0
$GC,4374,-0.74,-146.0,399.0,-6.8,286,4379,0.00,2.15,0.00,0.000,6,0.000,0.037,2381,1956,3391,0,0,0,0,0,0
$GC,4706,-0.74,-146.0,420.2,-6.7,295,4710,0.00,2.28,0.00,0.000,4,0.000,0.057,2381,547,3388,0,0,0,0,0,0
$GC,4829,-0.74,-146.0,429.3,-7.1,297,4835,0.12,2.17,0.00,0.000,6,0.163,0.038,2404,1961,3387,0,0,0,0,0,0
$STATE,5158,end dive,NO_VERTICAL_VELOCITY
$STATE,5158,begin apogee
$GC,5165,-0.17,0.0,432.1,0.0,306,5287,0.50,0.00,119.72,0.750,6,0.075,0.000,2588,1963,2799,0,0,0,0,0,0
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5291,0.74,146.0,431.0,0.0,309,5429,0.80,2.42,126.20,0.723,4,0.072,0.058,2882,573,2202,0,0,0,0,0,0
$GC,5603,0.74,146.0,400.5,10.9,316,5608,0.00,2.22,0.00,0.000,6,0.000,0.037,2882,1977,2197,0,0,0,0,0,0
$GC,5917,0.74,146.0,359.8,12.7,324,5921,0.00,2.25,0.00,0.000,4,0.000,0.054,2882,3386,2196,0,0,0,0,0,0
$GC,5978,0.74,146.0,352.0,11.8,325,5982,0.00,2.25,0.00,0.000,6,0.000,0.046,2891,1981,2194,0,0,0,0,0,0
$GC,6326,0.74,146.0,312.8,11.3,334,6330,0.00,2.25,0.00,0.000,4,0.000,0.060,2902,573,2193,0,0,0,0,0,0
$GC,6354,0.74,146.0,309.2,11.7,334,6358,0.00,2.20,0.00,0.000,6,0.000,0.040,2902,1986,2192,0,0,0,0,0,0
$GC,6674,0.74,146.0,269.1,12.6,348,6678,0.00,2.22,0.00,0.000,4,0.000,0.054,2902,3392,2192,0,0,0,0,0,0
$GC,6876,0.74,146.0,241.5,13.8,357,6881,0.12,2.25,0.00,0.000,6,0.158,0.047,2876,1971,2190,0,0,0,0,0,0
$GC,7197,0.74,146.0,210.7,9.2,373,7201,0.00,2.22,0.00,0.000,4,0.000,0.059,2885,572,2189,0,0,0,0,0,0
$GC,7259,0.74,146.0,204.4,10.8,376,7263,0.00,2.20,0.00,0.000,6,0.000,0.039,2884,1987,2189,0,0,0,0,0,0
$GC,7585,0.74,146.0,171.1,10.0,404,7589,0.00,2.20,0.00,0.000,4,0.000,0.054,2885,3385,2188,0,0,0,0,0,0
$GC,7755,0.74,146.0,152.3,11.7,419,7759,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1980,2187,0,0,0,0,0,0
$GC,8082,0.75,157.8,123.0,8.5,449,8096,0.00,2.30,8.82,0.500,4,0.000,0.058,2901,560,2155,0,0,0,0,0,0
$GC,8145,0.75,157.8,117.0,9.4,454,8152,0.00,2.22,0.00,0.000,6,0.000,0.038,2901,1983,2154,0,0,0,0,0,0
$GC,8472,0.75,157.8,85.2,9.7,485,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1983,2154,0,0,0,0,0,0
$GC,8794,0.76,161.5,57.5,8.9,539,8807,0.00,2.22,4.72,0.374,4,0.000,0.052,2901,3389,2140,0,0,0,0,0,0
$GC,8832,0.76,161.5,53.9,9.6,545,8838,0.00,2.20,0.00,0.000,6,0.000,0.041,2910,1966,2140,0,0,0,0,0,0
$GC,9162,0.76,161.5,23.9,9.6,606,9169,0.00,2.28,0.00,0.000,4,0.000,0.053,2909,3382,2140,0,0,0,0,0,0
$GC,9184,0.76,161.5,21.6,10.0,609,9192,0.08,2.22,0.00,0.000,6,0.109,0.043,2889,1983,2140,0,0,0,0,0,0
$GC,9353,0.86,245.6,9.6,5.5,640,9430,0.00,0.00,71.30,0.448,6,0.000,0.000,2889,1983,1797,0,0,0,0,0,0
$STATE,9489,end climb,SURFACE_DEPTH_REACHED
$STATE,9489,begin surface coast
$FINISH,0.6,1.001420
$STATE,9532,end surface coast,CONTROL_FINISHED_OK
$STATE,9532,begin surface
$SM_CCo,9550,26.17,0.419,0,0,1576,300.24
$SM_GC,1.31,0.00,0.00,26.17,0.000,0.000,0.419,43,1978,1576,-8.12,0.57,300.24
$IRIDIUM_FIX,2059.45,-15823.92,090902,030343
$TT8_MAMPS,0.028379
$HUMID,64.80
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,377.8,54.0
$24V_AH,24.5,39.469
$10V_AH,10.3,43.433
$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,18.825,84.775,330.775,26.175,0.000,83.436,156.878,225.104,15.500,0.000,15.507,1249.030,5563.610,383.419,2362.535,740.060,0.000,1242.627,0.000,2316.749,0.000,99.378,0.000
$DEVICE_MAMPS,227.032,59.826,750.126,418.782,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,455.284,394.023,1321.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38107,671
$CAP_FILE_SIZE,109285,0
$CFSIZE,260165632,232304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,054734,2102.340,-15758.403,67,0.9,67,9.8