version: 66.06
glider: 523
mission: 4
dive: 527
start: 6 21 113 8 7 4
data:
$ID,523
$MISSION,4
$DIVE,527
$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,-46508.383
$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,22
$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
$GPS1,080048,2103.877,-15758.891,17,1.1,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.3
$GPS2,080648,2103.860,-15758.863,19,1.8,19,9.8
$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,316.5,9961,-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,-76.22,0.000,2,0.000,0.000,33,1975,3375,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.6,12,113,9.60,2.17,-0.40,0.000,4,0.223,0.059,2385,3365,3394,0,0,0,0,0,0
$GC,193,-0.74,-146.0,23.1,-15.3,29,200,0.00,2.25,0.00,0.000,6,0.000,0.039,2385,1946,3397,0,0,0,0,0,0
$GC,365,-0.74,-146.0,50.4,-15.0,60,372,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,552,3397,0,0,0,0,0,0
$GC,462,-0.74,-146.0,65.7,-15.4,77,467,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1969,3397,0,0,0,0,0,0
$GC,797,-0.74,-146.0,106.9,-11.5,118,801,0.00,2.30,0.00,0.000,4,0.000,0.056,2376,539,3398,0,0,0,0,0,0
$GC,984,-0.74,-146.0,128.3,-12.2,135,989,0.12,2.17,0.00,0.000,6,0.166,0.035,2397,1962,3398,0,0,0,0,0,0
$GC,1311,-0.74,-146.0,159.3,-9.0,165,1316,0.00,2.28,0.00,0.000,4,0.000,0.053,2398,544,3400,0,0,0,0,0,0
$GC,1480,-0.74,-146.0,175.0,-8.5,180,1491,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1958,3400,0,0,0,0,0,0
$GC,1809,-0.74,-146.0,200.7,-8.8,211,1813,0.00,2.25,0.00,0.000,4,0.000,0.053,2390,542,3401,0,0,0,0,0,0
$GC,2067,-0.74,-146.0,223.4,-7.7,222,2071,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1965,3401,0,0,0,0,0,0
$GC,2386,-0.74,-146.0,247.3,-7.7,237,2390,0.00,2.30,0.00,0.000,4,0.000,0.054,2380,541,3401,0,0,0,0,0,0
$GC,2599,-0.74,-146.0,268.2,-9.9,246,2605,0.12,2.17,0.00,0.000,6,0.163,0.035,2403,1965,3401,0,0,0,0,0,0
$GC,2917,-0.74,-146.0,293.6,-8.0,262,2921,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,548,3401,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,301.5,-9.2,266,3006,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1961,3400,0,0,0,0,0,0
$GC,3329,-0.74,-146.0,325.2,-6.6,274,3333,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,3360,3400,0,0,0,0,0,0
$GC,3430,-0.74,-146.0,331.7,-6.0,276,3434,0.00,2.22,0.00,0.000,6,0.000,0.044,2385,1955,3400,0,0,0,0,0,0
$GC,3779,-0.74,-146.0,350.4,-5.3,285,3783,0.00,2.25,0.00,0.000,4,0.000,0.059,2385,546,3399,0,0,0,0,0,0
$GC,4037,-0.74,-146.0,366.8,-6.4,290,4042,0.00,2.20,0.00,0.000,6,0.000,0.038,2375,1968,3397,0,0,0,0,0,0
$GC,4368,-0.74,-146.0,389.8,-6.8,299,4375,0.00,2.30,0.00,0.000,4,0.000,0.058,2375,548,3395,0,0,0,0,0,0
$GC,4595,-0.74,-146.0,406.3,-7.6,304,4600,0.12,2.17,0.00,0.000,6,0.158,0.040,2398,1957,3393,0,0,0,0,0,0
$GC,4922,-0.74,-146.0,428.0,-6.6,312,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3392,0,0,0,0,0,0
$GC,5245,-0.74,-146.0,445.6,-5.0,320,5249,0.00,2.33,0.00,0.000,4,0.000,0.061,2399,544,3389,0,0,0,0,0,0
$GC,5296,-0.74,-146.0,448.4,-5.3,321,5300,0.00,2.22,0.00,0.000,6,0.000,0.041,2391,1959,3389,0,0,0,0,0,0
$STATE,5363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5369,-0.17,0.0,451.7,4.8,323,5494,0.60,0.00,121.75,0.764,6,0.117,0.000,2582,1959,2800,0,0,0,0,0,0
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5498,0.74,146.0,451.0,0.0,326,5636,0.85,2.40,127.05,0.738,4,0.074,0.059,2877,3395,2203,0,0,0,0,0,0
$GC,5705,0.74,146.0,426.7,13.8,330,5711,0.00,2.33,0.00,0.000,6,0.000,0.047,2886,1984,2199,0,0,0,0,0,0
$GC,6037,0.74,146.0,383.2,12.8,339,6041,0.00,2.35,0.00,0.000,4,0.000,0.060,2886,3393,2196,0,0,0,0,0,0
$GC,6069,0.74,146.0,379.1,12.0,339,6075,0.00,2.30,0.00,0.000,6,0.000,0.051,2896,1980,2195,0,0,0,0,0,0
$GC,6400,0.74,146.0,338.4,12.4,348,6404,0.00,2.28,0.00,0.000,4,0.000,0.058,2896,3392,2193,0,0,0,0,0,0
$GC,6479,0.74,146.0,328.5,13.5,349,6483,0.00,2.25,0.00,0.000,6,0.000,0.042,2905,1976,2192,0,0,0,0,0,0
$GC,6791,0.74,146.0,288.7,12.6,358,6795,0.00,2.28,0.00,0.000,4,0.000,0.061,2916,565,2191,0,0,0,0,0,0
$GC,6823,0.74,146.0,284.7,11.5,359,6830,0.15,2.22,0.00,0.000,6,0.142,0.039,2874,1985,2190,0,0,0,0,0,0
$GC,7139,0.74,146.0,252.2,11.0,375,7143,0.00,2.20,0.00,0.000,4,0.000,0.052,2874,3392,2190,0,0,0,0,0,0
$GC,7224,0.74,146.0,242.4,11.0,379,7228,0.00,2.22,0.00,0.000,6,0.000,0.041,2883,1969,2189,0,0,0,0,0,0
$GC,7557,0.74,149.2,210.6,8.9,395,7561,0.00,2.25,0.00,0.000,4,0.000,0.052,2882,3388,2188,0,0,0,0,0,0
$GC,7671,0.74,149.2,198.8,11.0,400,7675,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1980,2188,0,0,0,0,0,0
$GC,7998,0.74,149.2,163.2,10.2,430,8002,0.00,2.25,0.00,0.000,4,0.000,0.054,2892,3390,2188,0,0,0,0,0,0
$GC,8082,0.74,149.2,154.0,10.5,437,8086,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1971,2188,0,0,0,0,0,0
$GC,8409,0.74,149.2,122.3,10.0,467,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1971,2188,0,0,0,0,0,0
$GC,8730,0.74,149.2,88.9,10.2,497,8734,0.00,2.25,0.00,0.000,4,0.000,0.050,2902,3392,2188,0,0,0,0,0,0
$GC,8770,0.74,149.2,84.4,10.2,500,8775,0.12,2.22,0.00,0.000,6,0.146,0.041,2876,1970,2188,0,0,0,0,0,0
$GC,9100,0.80,194.3,61.7,7.2,556,9146,0.00,2.28,39.10,0.495,4,0.000,0.058,2885,570,2007,0,0,0,0,0,0
$GC,9167,0.84,233.2,57.0,7.4,567,9207,0.00,2.20,34.20,0.480,6,0.000,0.036,2885,1981,1849,0,0,0,0,0,0
$GC,9539,0.87,256.1,28.7,8.1,634,9566,0.10,2.20,20.40,0.447,4,0.087,0.050,2958,3387,1757,0,0,0,0,0,0
$GC,9663,0.87,256.1,14.7,14.4,656,9671,0.12,2.28,0.00,0.000,6,0.107,0.048,2924,1982,1755,0,0,0,0,0,0
$STATE,9777,end climb,SURFACE_DEPTH_REACHED
$STATE,9777,begin surface coast
$FINISH,0.5,1.023150
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9830,21.23,0.419,0,0,1575,300.24
$SM_GC,1.67,0.00,0.00,21.23,0.000,0.000,0.419,37,1974,1575,-8.14,0.48,300.24
$IRIDIUM_FIX,2101.76,-15758.18,150902,050539
$TT8_MAMPS,0.028379
$HUMID,66.46
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,35
$24V_AH,24.4,44.739
$10V_AH,10.3,48.696
$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,19.350,94.275,342.500,21.225,0.000,28.166,38.106,155.445,27.500,0.000,19.742,1266.931,5691.947,401.226,2346.941,500.588,0.000,1252.586,0.000,2294.187,0.000,119.251,0.000
$DEVICE_MAMPS,223.197,60.593,763.932,418.782,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,463.154,387.610,1316.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38117,683
$CAP_FILE_SIZE,110078,0
$CFSIZE,260165632,229699584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210613,105235,2104.556,-15800.462,40,0.8,40,9.8