version: 66.06
glider: 523
mission: 4
dive: 464
start: 6 13 113 16 52 31
data:
$ID,523
$MISSION,4
$DIVE,464
$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,-45291.207
$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,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
$GPS1,164634,2100.367,-15745.423,32,0.7,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.0
$GPS2,165215,2100.376,-15745.438,20,1.0,20,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,229.4,8901,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-84.97,0.000,6,0.000,0.000,29,1990,3396,0,0,0,0,0,0
$GC,109,-0.74,-146.0,4.1,-6.8,14,124,9.45,2.20,0.00,0.000,4,0.222,0.049,2381,3375,3398,0,0,0,0,0,0
$GC,281,-0.74,-146.0,42.0,-19.0,45,287,0.00,2.28,0.00,0.000,6,0.000,0.041,2381,1944,3400,0,0,0,0,0,0
$GC,611,-0.74,-146.0,86.9,-12.3,101,614,0.00,2.22,0.00,0.000,4,0.000,0.054,2381,542,3401,0,0,0,0,0,0
$GC,735,-0.74,-146.0,102.1,-11.5,112,740,0.12,2.17,0.00,0.000,6,0.169,0.032,2403,1976,3401,0,0,0,0,0,0
$GC,1063,-0.74,-146.0,140.6,-11.6,142,1066,0.00,2.15,0.00,0.000,4,0.000,0.053,2395,3362,3402,0,0,0,0,0,0
$GC,1115,-0.74,-146.0,146.6,-11.1,146,1119,0.00,2.22,0.00,0.000,6,0.000,0.041,2394,1948,3402,0,0,0,0,0,0
$GC,1443,-0.74,-146.0,174.1,-8.4,176,1447,0.00,2.20,0.00,0.000,4,0.000,0.052,2394,544,3402,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,191.7,-10.6,192,1634,0.00,2.12,0.00,0.000,6,0.000,0.033,2384,1961,3403,0,0,0,0,0,0
$GC,1965,-0.74,-146.0,223.5,-8.9,212,1969,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,546,3403,0,0,0,0,0,0
$GC,2150,-0.74,-146.0,239.3,-8.3,220,2154,0.00,2.12,0.00,0.000,6,0.000,0.034,2376,1958,3403,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,265.7,-10.0,236,2478,0.00,2.20,0.00,0.000,4,0.000,0.054,2365,3364,3403,0,0,0,0,0,0
$GC,2501,-0.74,-146.0,269.0,-10.6,237,2506,0.12,2.22,0.00,0.000,6,0.147,0.041,2397,1947,3403,0,0,0,0,0,0
$GC,2822,-0.74,-146.0,293.8,-6.4,253,2826,0.00,2.20,0.00,0.000,4,0.000,0.055,2398,547,3403,0,0,0,0,0,0
$GC,2964,-0.74,-146.0,303.4,-7.0,259,2968,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1958,3402,0,0,0,0,0,0
$GC,3280,-0.74,-146.0,326.8,-8.7,267,3284,0.00,2.25,0.00,0.000,4,0.000,0.055,2390,548,3401,0,0,0,0,0,0
$GC,3538,-0.74,-146.0,349.8,-7.7,272,3547,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1955,3400,0,0,0,0,0,0
$GC,3870,-0.74,-146.0,376.3,-7.9,281,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3397,0,0,0,0,0,0
$GC,4195,-0.74,-146.0,397.8,-6.2,289,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1956,3396,0,0,0,0,0,0
$GC,4519,-0.74,-146.0,416.7,-5.6,297,4523,0.00,2.28,0.00,0.000,4,0.000,0.058,2380,544,3394,0,0,0,0,0,0
$GC,4701,-0.74,-146.0,429.1,-7.2,301,4705,0.12,2.17,0.00,0.000,6,0.163,0.039,2404,1963,3393,0,0,0,0,0,0
$GC,5030,-0.74,-146.0,446.3,-5.5,309,5034,0.00,2.33,0.00,0.000,4,0.000,0.059,2405,540,3391,0,0,0,0,0,0
$STATE,5176,end dive,NO_VERTICAL_VELOCITY
$STATE,5176,begin apogee
$GC,5185,-0.17,0.0,446.5,0.0,312,5309,0.50,0.00,120.30,0.757,6,0.079,0.000,2587,1980,2800,0,0,0,0,0,0
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5312,0.74,146.0,445.8,0.0,315,5450,0.82,2.40,126.28,0.730,4,0.073,0.055,2877,3390,2203,0,0,0,0,0,0
$GC,5669,0.74,146.0,401.7,13.0,323,5674,0.00,2.30,0.00,0.000,6,0.000,0.048,2885,1983,2197,0,0,0,0,0,0
$GC,5983,0.74,146.0,361.7,12.6,331,5987,0.00,2.28,0.00,0.000,4,0.000,0.057,2885,3387,2194,0,0,0,0,0,0
$GC,6089,0.74,146.0,348.2,13.7,333,6093,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1975,2193,0,0,0,0,0,0
$GC,6431,0.74,146.0,305.7,12.7,342,6435,0.00,2.25,0.00,0.000,4,0.000,0.059,2901,569,2191,0,0,0,0,0,0
$GC,6464,0.74,146.0,301.5,13.0,342,6470,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1985,2191,0,0,0,0,0,0
$GC,6779,0.74,146.0,258.2,14.1,357,6783,0.00,2.20,0.00,0.000,4,0.000,0.052,2901,3395,2190,0,0,0,0,0,0
$GC,6834,0.74,146.0,250.6,13.4,359,6840,0.12,2.25,0.00,0.000,6,0.150,0.041,2877,1972,2190,0,0,0,0,0,0
$GC,7150,0.74,146.0,217.7,11.4,375,7154,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3389,2189,0,0,0,0,0,0
$GC,7227,0.74,146.0,208.5,11.1,378,7233,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1978,2189,0,0,0,0,0,0
$GC,7554,0.74,146.0,178.9,10.0,404,7558,0.00,2.22,0.00,0.000,4,0.000,0.058,2895,575,2187,0,0,0,0,0,0
$GC,7583,0.74,146.0,175.4,10.7,406,7588,0.00,2.17,0.00,0.000,6,0.000,0.041,2896,1985,2187,0,0,0,0,0,0
$GC,7912,0.74,146.0,141.1,9.7,436,7916,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3390,2187,0,0,0,0,0,0
$GC,8114,0.74,146.0,116.5,11.6,454,8119,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1981,2187,0,0,0,0,0,0
$GC,8443,0.76,168.8,88.7,8.1,484,8467,0.00,2.22,17.98,0.509,4,0.000,0.050,2906,3389,2110,0,0,0,0,0,0
$GC,8503,0.76,168.8,83.1,9.3,489,8507,0.00,2.22,0.00,0.000,6,0.000,0.040,2915,1970,2109,0,0,0,0,0,0
$GC,8833,0.81,204.2,52.1,7.6,546,8868,0.00,2.30,30.55,0.485,4,0.000,0.056,2926,562,1966,0,0,0,0,0,0
$GC,8902,0.81,204.2,45.5,9.8,558,8909,0.00,2.22,0.00,0.000,6,0.000,0.036,2926,1976,1965,0,0,0,0,0,0
$GC,9234,0.81,204.2,16.7,9.1,619,9241,0.00,2.28,0.00,0.000,4,0.000,0.052,2926,3391,1964,0,0,0,0,0,0
$GC,9280,0.81,204.2,11.9,10.4,627,9289,0.10,2.28,0.00,0.000,6,0.114,0.046,2898,1980,1964,0,0,0,0,0,0
$STATE,9398,end climb,SURFACE_DEPTH_REACHED
$STATE,9400,begin surface coast
$FINISH,0.6,1.002058
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9451,45.50,0.435,0,0,1575,300.24
$SM_GC,1.47,0.00,0.00,45.50,0.000,0.000,0.435,24,1971,1575,-8.18,0.42,300.24
$IRIDIUM_FIX,2050.21,-15749.62,070902,141408
$TT8_MAMPS,0.028379
$HUMID,66.10
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,400.3,46.4
$24V_AH,24.5,38.359
$10V_AH,10.4,42.230
$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,18.700,89.100,295.100,45.500,0.000,29.657,34.612,138.363,17.500,0.000,21.051,1222.252,5471.522,389.151,2283.433,466.696,0.000,1205.268,0.000,2230.071,0.000,110.029,0.000
$DEVICE_MAMPS,221.663,59.059,757.029,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,445.428,374.012,1285.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34942,655
$CAP_FILE_SIZE,104548,0
$CFSIZE,260165632,232931328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,193141,2059.610,-15746.249,14,0.8,14,9.8