version: 66.06
glider: 523
mission: 4
dive: 478
start: 6 15 113 8 47 10
data:
$ID,523
$MISSION,4
$DIVE,478
$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,-45553.355
$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,24
$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
$GPS1,084035,2103.395,-15759.492,60,1.0,60,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.5
$GPS2,084653,2103.411,-15759.561,15,1.1,15,9.8
$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,324.8,10091,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.93,0.000,2,0.000,0.000,40,1971,3383,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.4,-5.2,12,115,9.48,2.22,-0.25,0.000,4,0.224,0.064,2382,3369,3397,0,0,0,0,0,0
$GC,261,-0.74,-146.0,35.2,-17.8,41,267,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1950,3398,0,0,0,0,0,0
$GC,600,-0.74,-146.0,81.3,-10.9,102,604,0.00,2.25,0.00,0.000,4,0.000,0.057,2382,537,3400,0,0,0,0,0,0
$GC,851,-0.74,-146.0,113.5,-13.4,124,858,0.00,2.20,0.00,0.000,6,0.000,0.034,2373,1965,3400,0,0,0,0,0,0
$GC,1179,-0.74,-146.0,151.6,-8.8,155,1184,0.10,2.30,0.00,0.000,4,0.173,0.052,2397,547,3402,0,0,0,0,0,0
$GC,1430,-0.74,-146.0,173.3,-9.0,177,1437,0.00,2.17,0.00,0.000,6,0.000,0.033,2389,1963,3402,0,0,0,0,0,0
$GC,1754,-0.74,-146.0,202.0,-8.2,207,1758,0.00,2.22,0.00,0.000,4,0.000,0.055,2379,3366,3401,0,0,0,0,0,0
$GC,1799,-0.74,-146.0,206.3,-9.6,209,1803,0.00,2.25,0.00,0.000,6,0.000,0.041,2379,1946,3402,0,0,0,0,0,0
$GC,2130,-0.74,-146.0,236.8,-9.6,225,2134,0.00,2.22,0.00,0.000,4,0.000,0.052,2379,545,3402,0,0,0,0,0,0
$GC,2288,-0.74,-146.0,255.1,-10.5,232,2293,0.12,2.12,0.00,0.000,6,0.173,0.034,2400,1961,3402,0,0,0,0,0,0
$GC,2610,-0.74,-146.0,280.6,-8.0,248,2614,0.00,2.22,0.00,0.000,4,0.000,0.055,2392,3365,3401,0,0,0,0,0,0
$GC,2673,-0.74,-146.0,285.9,-7.5,251,2677,0.00,2.20,0.00,0.000,6,0.000,0.042,2392,1950,3402,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,306.3,-6.9,265,3006,0.00,2.22,0.00,0.000,4,0.000,0.052,2382,3356,3401,0,0,0,0,0,0
$GC,3238,-0.74,-146.0,324.2,-7.4,270,3242,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,1946,3402,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,352.7,-8.3,279,3595,0.00,2.25,0.00,0.000,4,0.000,0.054,2382,540,3400,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,375.7,-8.2,284,3856,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1966,3399,0,0,0,0,0,0
$GC,4182,-0.74,-146.0,399.7,-7.2,293,4187,0.10,2.30,0.00,0.000,4,0.172,0.056,2398,548,3397,0,0,0,0,0,0
$GC,4441,-0.74,-146.0,415.9,-6.1,298,4445,0.00,2.17,0.00,0.000,6,0.000,0.037,2390,1965,3395,0,0,0,0,0,0
$GC,4774,-0.74,-146.0,436.0,-6.1,306,4778,0.00,2.22,0.00,0.000,4,0.000,0.056,2379,3361,3393,0,0,0,0,0,0
$GC,4842,-0.74,-146.0,441.0,-7.3,307,4846,0.00,2.20,0.00,0.000,6,0.000,0.042,2379,1954,3394,0,0,0,0,0,0
$STATE,5014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5014,begin apogee
$GC,5020,-0.17,0.0,452.8,6.8,312,5145,0.65,0.00,121.07,0.756,6,0.123,0.000,2584,1954,2800,0,0,0,0,0,0
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5149,0.74,146.0,454.3,0.0,315,5286,0.82,2.42,126.53,0.730,4,0.078,0.051,2871,3380,2202,0,0,0,0,0,0
$GC,5393,0.74,146.0,424.8,14.7,320,5398,0.00,2.28,0.00,0.000,6,0.000,0.045,2880,1983,2198,0,0,0,0,0,0
$GC,5725,0.74,146.0,381.9,12.9,328,5729,0.00,2.28,0.00,0.000,4,0.000,0.063,2890,570,2195,0,0,0,0,0,0
$GC,5747,0.74,146.0,379.0,12.6,328,5751,0.00,2.20,0.00,0.000,6,0.000,0.041,2890,1978,2195,0,0,0,0,0,0
$GC,6084,0.74,146.0,332.5,13.6,337,6088,0.00,2.25,0.00,0.000,4,0.000,0.063,2890,3385,2193,0,0,0,0,0,0
$GC,6124,0.74,146.0,326.7,14.9,338,6128,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1976,2192,0,0,0,0,0,0
$GC,6450,0.74,146.0,281.1,14.9,349,6454,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,3388,2191,0,0,0,0,0,0
$GC,6615,0.74,146.0,258.5,13.4,356,6619,0.12,2.22,0.00,0.000,6,0.150,0.041,2875,1969,2190,0,0,0,0,0,0
$GC,6930,0.74,146.0,226.5,9.4,371,6934,0.00,2.30,0.00,0.000,4,0.000,0.059,2875,3390,2190,0,0,0,0,0,0
$GC,7025,0.74,146.0,217.2,9.2,375,7029,0.00,2.25,0.00,0.000,6,0.000,0.049,2883,1978,2189,0,0,0,0,0,0
$GC,7349,0.76,168.5,189.5,8.1,396,7373,0.00,2.28,18.02,0.585,4,0.000,0.058,2883,3388,2112,0,0,0,0,0,0
$GC,7441,0.76,168.5,180.5,10.0,404,7445,0.00,2.25,0.00,0.000,6,0.000,0.048,2891,1980,2110,0,0,0,0,0,0
$GC,7768,0.79,190.6,151.6,8.1,434,7793,0.00,2.28,19.90,0.553,4,0.000,0.056,2901,559,2021,0,0,0,0,0,0
$GC,7864,0.79,190.6,142.1,9.3,442,7872,0.00,2.25,0.00,0.000,6,0.000,0.039,2901,1978,2019,0,0,0,0,0,0
$GC,8192,0.80,196.7,112.1,8.8,473,8205,0.00,2.25,6.10,0.443,4,0.000,0.051,2901,3390,1999,0,0,0,0,0,0
$GC,8262,0.80,196.7,105.4,10.5,479,8267,0.00,2.28,0.00,0.000,6,0.000,0.047,2909,1970,1998,0,0,0,0,0,0
$GC,8592,0.81,204.8,75.9,8.7,513,8609,0.00,2.30,8.98,0.448,4,0.000,0.058,2919,569,1964,0,0,0,0,0,0
$GC,8651,0.81,204.8,70.5,9.7,523,8656,0.00,2.17,0.00,0.000,6,0.000,0.040,2919,1981,1964,0,0,0,0,0,0
$GC,8983,0.85,241.2,38.8,7.5,584,9025,0.00,2.25,32.20,0.464,4,0.000,0.051,2919,3388,1815,0,0,0,0,0,0
$GC,9111,0.90,279.0,27.2,7.5,606,9151,0.00,2.28,33.00,0.449,6,0.000,0.042,2928,1975,1663,0,0,0,0,0,0
$GC,9312,0.90,279.0,5.3,12.4,642,9320,0.00,2.30,0.00,0.000,4,0.000,0.057,2936,566,1662,0,0,0,0,0,0
$STATE,9342,end climb,SURFACE_DEPTH_REACHED
$STATE,9342,begin surface coast
$FINISH,0.6,1.023191
$STATE,9375,end surface coast,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$SM_CCo,9396,11.62,0.399,0,0,1574,300.24
$SM_GC,1.24,0.00,0.00,11.62,0.000,0.000,0.399,30,1961,1574,-8.16,0.11,300.24
$IRIDIUM_FIX,2057.14,-15756.91,090902,050524
$TT8_MAMPS,0.028379
$HUMID,65.27
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.5,39.641
$10V_AH,10.4,43.634
$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,18.850,94.250,365.800,11.625,0.000,28.202,33.419,181.946,19.500,0.000,15.555,1217.046,5350.652,400.280,2303.269,511.491,0.000,1247.966,0.000,2256.038,0.000,117.261,0.000
$DEVICE_MAMPS,223.964,63.661,756.262,398.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,442.475,382.778,1301.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34997,653
$CAP_FILE_SIZE,107852,0
$CFSIZE,260165632,232202240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,112503,2104.149,-15800.273,25,0.7,25,9.8