version: 66.06
glider: 523
mission: 4
dive: 48
start: 4 30 113 4 15 46
data:
$ID,523
$MISSION,4
$DIVE,48
$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,-36839.27
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$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
$GPS1,040934,2100.271,-15754.100,36,0.7,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.2
$GPS2,041529,2100.281,-15754.091,17,0.9,17,9.8
$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,307.5,20301,-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,-76.22,0.000,2,0.000,0.000,48,1988,3355,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.6,12,113,9.30,2.28,-0.88,0.000,4,0.230,0.062,2393,556,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,57.7,-16.6,59,360,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1963,3398,0,0,0,0,0,0
$GC,689,-0.74,-146.0,114.8,-15.6,103,693,0.00,2.28,0.00,0.000,4,0.000,0.052,2385,547,3399,0,0,0,0,0,0
$GC,735,-0.74,-146.0,122.2,-15.6,107,739,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1974,3400,0,0,0,0,0,0
$GC,1068,-0.74,-146.0,165.3,-11.1,138,1072,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,544,3401,0,0,0,0,0,0
$GC,1162,-0.74,-146.0,174.9,-10.2,146,1170,0.12,2.15,0.00,0.000,6,0.172,0.036,2398,1962,3401,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,210.5,-9.1,173,1507,0.00,2.15,0.00,0.000,4,0.000,0.054,2389,3363,3402,0,0,0,0,0,0
$GC,1581,-0.74,-146.0,217.6,-9.0,176,1587,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1949,3402,0,0,0,0,0,0
$GC,1899,-0.74,-146.0,248.3,-10.3,192,1903,0.00,2.20,0.00,0.000,4,0.000,0.052,2379,3360,3402,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,261.5,-10.0,197,2031,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,1956,3402,0,0,0,0,0,0
$GC,2345,-0.74,-146.0,290.6,-10.3,213,2349,0.00,2.20,0.00,0.000,4,0.000,0.059,2379,546,3401,0,0,0,0,0,0
$GC,2529,-0.74,-146.0,309.3,-9.3,220,2534,0.12,2.15,0.00,0.000,6,0.167,0.041,2404,1955,3401,0,0,0,0,0,0
$GC,2844,-0.74,-146.0,335.0,-8.5,228,2849,0.00,2.17,0.00,0.000,4,0.000,0.055,2395,3366,3401,0,0,0,0,0,0
$GC,2883,-0.74,-146.0,338.2,-7.9,228,2889,0.00,2.17,0.00,0.000,6,0.000,0.041,2395,1965,3402,0,0,0,0,0,0
$GC,3215,-0.74,-146.0,365.6,-7.7,237,3219,0.00,2.22,0.00,0.000,4,0.000,0.058,2395,549,3399,0,0,0,0,0,0
$GC,3268,-0.74,-146.0,370.5,-9.8,238,3272,0.00,2.15,0.00,0.000,6,0.000,0.044,2385,1959,3399,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,397.1,-8.0,246,3595,0.00,2.28,0.00,0.000,4,0.000,0.060,2385,549,3397,0,0,0,0,0,0
$GC,3680,-0.74,-146.0,405.7,-8.2,248,3684,0.00,2.20,0.00,0.000,6,0.000,0.046,2376,1968,3397,0,0,0,0,0,0
$GC,3999,-0.74,-146.0,428.4,-6.5,256,4003,0.00,2.17,0.00,0.000,4,0.000,0.058,2366,3369,3395,0,0,0,0,0,0
$GC,4028,-0.74,-146.0,430.2,-6.3,256,4032,0.12,2.22,0.00,0.000,6,0.146,0.047,2400,1956,3394,0,0,0,0,0,0
$GC,4366,-0.74,-146.0,449.6,-6.1,265,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1956,3392,0,0,0,0,0,0
$STATE,4402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4409,-0.17,0.0,452.1,5.9,266,4530,0.55,0.00,118.35,0.789,6,0.116,0.000,2584,1956,2800,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4534,0.74,146.0,452.7,0.0,269,4671,0.82,2.50,125.20,0.759,4,0.074,0.060,2873,3378,2202,0,0,0,0,0,0
$GC,4704,0.74,146.0,435.7,13.0,273,4709,0.00,2.33,0.00,0.000,6,0.000,0.052,2882,1979,2200,0,0,0,0,0,0
$GC,5023,0.74,146.0,390.4,14.9,281,5027,0.00,2.28,0.00,0.000,4,0.000,0.062,2892,558,2195,0,0,0,0,0,0
$GC,5117,0.74,146.0,375.7,15.0,283,5121,0.00,2.25,0.00,0.000,6,0.000,0.047,2893,1977,2194,0,0,0,0,0,0
$GC,5430,0.74,146.0,321.5,17.8,291,5434,0.00,2.20,0.00,0.000,4,0.000,0.055,2892,3384,2192,0,0,0,0,0,0
$GC,5515,0.74,146.0,307.3,16.5,293,5519,0.00,2.22,0.00,0.000,6,0.000,0.044,2900,1967,2192,0,0,0,0,0,0
$GC,5843,0.74,146.0,259.7,14.0,307,5847,0.00,2.22,0.00,0.000,4,0.000,0.061,2911,569,2191,0,0,0,0,0,0
$GC,5909,0.74,146.0,250.8,12.7,310,5914,0.12,2.20,0.00,0.000,6,0.153,0.041,2878,1993,2190,0,0,0,0,0,0
$GC,6230,0.74,146.0,214.3,12.2,326,6234,0.00,2.17,0.00,0.000,4,0.000,0.056,2877,3386,2189,0,0,0,0,0,0
$GC,6308,0.74,146.0,204.0,14.2,329,6313,0.00,2.20,0.00,0.000,6,0.000,0.042,2886,1976,2188,0,0,0,0,0,0
$GC,6637,0.74,146.0,167.3,10.4,358,6641,0.00,2.22,0.00,0.000,4,0.000,0.060,2896,560,2187,0,0,0,0,0,0
$GC,6733,0.74,146.0,154.8,12.7,366,6741,0.00,2.20,0.00,0.000,6,0.000,0.039,2896,1976,2187,0,0,0,0,0,0
$GC,7060,0.74,146.0,115.2,11.6,397,7064,0.00,2.25,0.00,0.000,4,0.000,0.058,2906,558,2187,0,0,0,0,0,0
$GC,7123,0.74,146.0,108.3,11.1,402,7127,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1981,2186,0,0,0,0,0,0
$GC,7450,0.74,146.0,72.4,11.1,438,7457,0.00,2.28,0.00,0.000,4,0.000,0.058,2913,571,2187,0,0,0,0,0,0
$GC,7518,0.74,146.0,65.1,10.9,450,7524,0.10,2.17,0.00,0.000,6,0.116,0.038,2878,1983,2187,0,0,0,0,0,0
$GC,7854,0.75,155.8,34.1,8.6,511,7866,0.00,2.17,7.05,0.434,4,0.000,0.051,2878,3378,2163,0,0,0,0,0,0
$GC,7948,0.75,155.8,26.2,9.0,528,7956,0.00,2.22,0.00,0.000,6,0.000,0.044,2884,1973,2163,0,0,0,0,0,0
$GC,8117,0.76,165.9,11.7,8.6,559,8132,0.00,2.28,10.20,0.441,4,0.000,0.056,2895,567,2122,0,0,0,0,0,0
$STATE,8228,end climb,SURFACE_DEPTH_REACHED
$STATE,8230,begin surface coast
$FINISH,1.0,1.023353
$STATE,8252,end surface coast,CONTROL_FINISHED_OK
$STATE,8252,begin surface
$SM_CCo,8272,60.70,0.459,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,60.70,0.000,0.000,0.459,26,1971,1575,-8.17,0.34,300.24
$IRIDIUM_FIX,2050.21,-15752.63,250702,010148
$TT8_MAMPS,0.028379
$HUMID,61.73
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.6,4.403
$10V_AH,10.5,4.786
$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,18.525,88.675,260.800,60.700,0.000,33.050,55.312,143.340,19.000,0.000,17.479,1088.254,4821.809,386.713,1937.230,455.672,0.000,1076.932,0.000,1891.053,0.000,119.138,0.000
$DEVICE_MAMPS,230.100,62.127,789.243,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,396.996,330.769,1137.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31890,583
$CAP_FILE_SIZE,95949,0
$CFSIZE,260165632,252809216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,063535,2100.797,-15755.092,17,0.9,17,9.8