version: 66.06
glider: 523
mission: 4
dive: 465
start: 6 13 113 19 53 41
data:
$ID,523
$MISSION,4
$DIVE,465
$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,578.89856
$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,-45310.941
$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,23
$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
$GPS1,193141,2059.610,-15746.249,14,0.8,14,9.8
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.9
$GPS2,195323,2059.663,-15746.335,18,0.9,18,9.8
$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,232.3,6901,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,93,0.00,0.00,-74.93,0.000,6,0.000,0.000,24,1972,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.9,-7.2,12,112,9.70,2.28,0.00,0.000,4,0.226,0.048,2394,538,3398,0,0,0,0,0,0
$GC,354,-0.74,-146.0,57.0,-17.5,59,360,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1959,3400,0,0,0,0,0,0
$GC,683,-0.74,-146.0,101.4,-12.1,104,687,0.00,2.28,0.00,0.000,4,0.000,0.053,2385,540,3400,0,0,0,0,0,0
$GC,936,-0.74,-146.0,133.4,-11.0,126,943,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1952,3400,0,0,0,0,0,0
$GC,1263,-0.74,-146.0,163.4,-9.1,157,1267,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3368,3400,0,0,0,0,0,0
$GC,1294,-0.74,-146.0,166.3,-9.6,159,1299,0.12,2.22,0.00,0.000,6,0.148,0.041,2398,1955,3400,0,0,0,0,0,0
$GC,1622,-0.74,-146.0,195.1,-10.4,189,1626,0.00,2.22,0.00,0.000,4,0.000,0.051,2398,541,3401,0,0,0,0,0,0
$GC,1877,-0.74,-146.0,217.6,-5.9,202,1883,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1964,3400,0,0,0,0,0,0
$GC,2195,-0.74,-146.0,236.9,-7.7,218,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1964,3401,0,0,0,0,0,0
$GC,2502,-0.74,-146.0,262.6,-9.0,233,2506,0.00,2.30,0.00,0.000,4,0.000,0.052,2391,538,3401,0,0,0,0,0,0
$GC,2759,-0.74,-146.0,285.9,-9.6,244,2765,0.00,2.15,0.00,0.000,6,0.000,0.034,2380,1964,3400,0,0,0,0,0,0
$GC,3095,-0.74,-146.0,311.6,-6.8,257,3099,0.00,2.22,0.00,0.000,4,0.000,0.057,2370,3358,3399,0,0,0,0,0,0
$GC,3139,-0.74,-146.0,314.5,-5.9,258,3144,0.12,2.22,0.00,0.000,6,0.145,0.043,2404,1946,3399,0,0,0,0,0,0
$GC,3461,-0.74,-146.0,335.1,-7.0,266,3465,0.00,2.28,0.00,0.000,4,0.000,0.054,2396,3362,3396,0,0,0,0,0,0
$GC,3556,-0.74,-146.0,341.7,-7.1,268,3560,0.00,2.20,0.00,0.000,6,0.000,0.043,2396,1948,3396,0,0,0,0,0,0
$GC,3871,-0.74,-146.0,361.8,-6.2,276,3875,0.00,2.25,0.00,0.000,4,0.000,0.058,2396,546,3394,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,368.5,-6.2,278,3977,0.00,2.15,0.00,0.000,6,0.000,0.036,2385,1954,3393,0,0,0,0,0,0
$GC,4323,-0.74,-146.0,389.4,-6.2,287,4327,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,3366,3390,0,0,0,0,0,0
$GC,4412,-0.74,-146.0,395.6,-7.1,289,4416,0.00,2.22,0.00,0.000,6,0.000,0.042,2376,1948,3390,0,0,0,0,0,0
$GC,4733,-0.74,-146.0,417.6,-6.8,297,4737,0.00,2.25,0.00,0.000,4,0.000,0.059,2376,547,3388,0,0,0,0,0,0
$GC,4991,-0.74,-146.0,436.5,-8.2,302,4997,0.12,2.17,0.00,0.000,6,0.166,0.039,2397,1958,3385,0,0,0,0,0,0
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5246,-0.17,0.0,451.9,5.9,309,5369,0.55,0.00,119.80,0.767,6,0.092,0.000,2588,1958,2800,0,0,0,0,0,0
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5369,begin climb
$GC,5372,0.74,146.0,451.2,0.0,312,5510,0.82,2.42,126.32,0.738,4,0.084,0.058,2870,3381,2203,0,0,0,0,0,0
$GC,5617,0.74,146.0,422.2,13.7,317,5621,0.00,2.28,0.00,0.000,6,0.000,0.045,2879,1984,2198,0,0,0,0,0,0
$GC,5949,0.74,146.0,379.1,12.3,325,5953,0.00,2.28,0.00,0.000,4,0.000,0.058,2879,3384,2195,0,0,0,0,0,0
$GC,5988,0.74,146.0,373.9,14.0,326,5992,0.00,2.25,0.00,0.000,6,0.000,0.048,2888,1981,2195,0,0,0,0,0,0
$GC,6312,0.74,146.0,331.3,13.1,334,6316,0.00,2.22,0.00,0.000,4,0.000,0.054,2887,3382,2193,0,0,0,0,0,0
$GC,6378,0.74,146.0,322.0,14.4,335,6382,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,1972,2192,0,0,0,0,0,0
$GC,6702,0.74,146.0,280.5,12.4,347,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1972,2191,0,0,0,0,0,0
$GC,7011,0.74,146.0,243.5,12.6,362,7015,0.00,2.30,0.00,0.000,4,0.000,0.056,2897,3390,2190,0,0,0,0,0,0
$GC,7035,0.74,146.0,240.5,13.1,363,7039,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,1981,2190,0,0,0,0,0,0
$GC,7361,0.74,146.0,198.9,12.1,379,7365,0.00,2.25,0.00,0.000,4,0.000,0.057,2906,3382,2189,0,0,0,0,0,0
$GC,7489,0.74,146.0,184.6,11.0,390,7494,0.12,2.25,0.00,0.000,6,0.149,0.046,2880,1970,2188,0,0,0,0,0,0
$GC,7816,0.74,146.0,155.9,10.3,420,7821,0.00,2.28,0.00,0.000,4,0.000,0.054,2880,3386,2187,0,0,0,0,0,0
$GC,7891,0.74,146.0,147.7,10.8,426,7895,0.00,2.25,0.00,0.000,6,0.000,0.046,2886,1973,2187,0,0,0,0,0,0
$GC,8218,0.74,146.0,113.5,10.6,456,8222,0.00,2.25,0.00,0.000,4,0.000,0.058,2897,564,2187,0,0,0,0,0,0
$GC,8260,0.74,146.0,108.3,11.4,459,8268,0.00,2.22,0.00,0.000,6,0.000,0.039,2897,1983,2186,0,0,0,0,0,0
$GC,8588,0.77,169.9,80.0,8.0,490,8612,0.00,2.20,18.83,0.502,4,0.000,0.049,2897,3394,2106,0,0,0,0,0,0
$GC,8732,0.77,169.9,66.6,10.0,515,8737,0.00,2.25,0.00,0.000,6,0.000,0.045,2905,1979,2104,0,0,0,0,0,0
$GC,9065,0.77,169.9,37.8,10.2,576,9072,0.00,2.25,0.00,0.000,4,0.000,0.055,2914,573,2104,0,0,0,0,0,0
$GC,9142,0.77,176.6,30.1,8.8,589,9155,0.00,2.17,7.00,0.405,6,0.000,0.035,2914,1982,2079,0,0,0,0,0,0
$GC,9317,0.77,176.6,15.7,9.4,621,9324,0.00,2.20,0.00,0.000,4,0.000,0.050,2914,3381,2078,0,0,0,0,0,0
$GC,9360,0.77,176.6,11.2,10.8,628,9367,0.08,2.22,0.00,0.000,6,0.113,0.041,2893,1976,2078,0,0,0,0,0,0
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9467,begin surface coast
$FINISH,1.0,1.023031
$STATE,9506,end surface coast,CONTROL_FINISHED_OK
$STATE,9506,begin surface
$SM_CCo,9524,243.40,0.433,0,0,439,578.90
$SM_GC,1.19,0.00,0.00,243.40,0.000,0.000,0.433,49,1965,439,-8.10,0.23,578.90
$IRIDIUM_FIX,2047.91,-15748.36,070902,191915
$TT8_MAMPS,0.027612
$HUMID,61.65
$INTERNAL_PRESSURE,9.29449
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.5,38.493
$10V_AH,10.4,42.338
$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,18.850,89.400,271.950,243.400,0.000,150.950,196.018,523.897,19.750,0.000,19.104,1230.446,5821.797,576.872,2237.127,1202.240,0.000,1361.190,0.000,2192.387,0.000,127.864,0.000
$DEVICE_MAMPS,226.265,59.059,767.000,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,445.883,389.492,1284.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,35013,655
$CAP_FILE_SIZE,120995,0
$CFSIZE,260165632,232857600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,223734,2059.375,-15746.800,25,0.9,25,9.8