version: 66.06
glider: 523
mission: 4
dive: 466
start: 6 13 113 22 43 52
data:
$ID,523
$MISSION,4
$DIVE,466
$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,-45328.562
$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,25
$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
$GPS1,223734,2059.375,-15746.800,25,0.9,25,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.0
$GPS2,224335,2059.396,-15746.852,16,0.8,16,9.8
$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,232.5,5880,-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,-146.0,0.0,0.0,0,140,0.00,0.00,-120.05,0.000,6,0.000,0.000,49,1966,3396,0,0,0,0,0,0
$GC,144,-0.74,-146.0,3.7,-6.6,19,158,9.52,2.22,0.00,0.000,4,0.226,0.050,2385,3374,3397,0,0,0,0,0,0
$GC,332,-0.74,-146.0,42.3,-17.2,54,340,0.00,2.30,0.00,0.000,6,0.000,0.046,2386,1955,3399,0,0,0,0,0,0
$GC,673,-0.74,-146.0,87.7,-11.7,110,677,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,542,3399,0,0,0,0,0,0
$GC,922,-0.74,-146.0,119.4,-12.3,132,931,0.00,2.17,0.00,0.000,6,0.000,0.032,2376,1961,3399,0,0,0,0,0,0
$GC,1250,-0.74,-146.0,158.5,-10.8,163,1254,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,540,3399,0,0,0,0,0,0
$GC,1323,-0.74,-146.0,167.0,-11.7,169,1328,0.12,2.15,0.00,0.000,6,0.168,0.033,2398,1958,3399,0,0,0,0,0,0
$GC,1650,-0.74,-146.0,197.6,-7.9,199,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1959,3400,0,0,0,0,0,0
$GC,1971,-0.74,-146.0,223.2,-7.7,216,1975,0.00,2.30,0.00,0.000,4,0.000,0.051,2398,538,3400,0,0,0,0,0,0
$GC,2116,-0.74,-146.0,234.6,-6.5,222,2121,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1957,3400,0,0,0,0,0,0
$GC,2434,-0.74,-146.0,258.5,-7.5,238,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1957,3400,0,0,0,0,0,0
$GC,2741,-0.74,-146.0,278.5,-6.0,253,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1957,3399,0,0,0,0,0,0
$GC,3071,-0.74,-146.0,302.8,-7.0,268,3075,0.00,2.33,0.00,0.000,4,0.000,0.054,2390,536,3399,0,0,0,0,0,0
$GC,3278,-0.74,-146.0,317.8,-8.0,272,3282,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1955,3397,0,0,0,0,0,0
$GC,3612,-0.74,-146.0,340.5,-6.9,280,3616,0.00,2.30,0.00,0.000,4,0.000,0.056,2380,546,3395,0,0,0,0,0,0
$GC,3871,-0.74,-146.0,363.3,-10.1,285,3877,0.12,2.17,0.00,0.000,6,0.167,0.036,2403,1963,3394,0,0,0,0,0,0
$GC,4205,-0.74,-146.0,387.8,-7.0,294,4208,0.00,2.30,0.00,0.000,4,0.000,0.056,2403,535,3392,0,0,0,0,0,0
$GC,4463,-0.74,-146.0,403.0,-5.3,299,4467,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1954,3390,0,0,0,0,0,0
$GC,4800,-0.74,-146.0,419.3,-5.2,308,4804,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,540,3387,0,0,0,0,0,0
$GC,5058,-0.74,-146.0,436.8,-7.5,313,5064,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1958,3386,0,0,0,0,0,0
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5272,-0.17,0.0,450.4,6.5,319,5395,0.62,0.00,119.82,0.761,6,0.118,0.000,2584,1958,2800,0,0,0,0,0,0
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5396,begin climb
$GC,5398,0.74,146.0,450.9,0.0,322,5532,0.85,2.38,126.40,0.735,4,0.071,0.055,2878,3382,2203,0,0,0,0,0,0
$GC,5573,0.74,146.0,431.7,14.1,326,5577,0.00,2.30,0.00,0.000,6,0.000,0.044,2886,1981,2200,0,0,0,0,0,0
$GC,5916,0.74,146.0,384.2,14.1,335,5920,0.00,2.33,0.00,0.000,4,0.000,0.064,2897,564,2195,0,0,0,0,0,0
$GC,5989,0.74,146.0,373.0,15.8,336,5993,0.00,2.20,0.00,0.000,6,0.000,0.039,2897,1978,2194,0,0,0,0,0,0
$GC,6321,0.74,146.0,325.3,13.5,344,6325,0.00,2.33,0.00,0.000,4,0.000,0.064,2907,562,2192,0,0,0,0,0,0
$GC,6348,0.74,146.0,321.4,14.4,344,6352,0.00,2.22,0.00,0.000,6,0.000,0.042,2907,1980,2192,0,0,0,0,0,0
$GC,6667,0.74,146.0,277.6,13.8,356,6671,0.00,2.22,0.00,0.000,4,0.000,0.054,2907,3390,2190,0,0,0,0,0,0
$GC,6695,0.74,146.0,273.6,14.2,357,6700,0.12,2.25,0.00,0.000,6,0.153,0.047,2879,1980,2190,0,0,0,0,0,0
$GC,7015,0.74,146.0,241.9,9.4,373,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1980,2189,0,0,0,0,0,0
$GC,7326,0.74,150.4,211.8,8.9,388,7330,0.00,2.28,0.00,0.000,4,0.000,0.056,2879,3390,2188,0,0,0,0,0,0
$GC,7382,0.74,150.4,206.6,9.3,390,7387,0.00,2.22,0.00,0.000,6,0.000,0.046,2886,1979,2188,0,0,0,0,0,0
$GC,7708,0.74,150.4,177.7,10.3,417,7712,0.00,2.25,0.00,0.000,4,0.000,0.058,2897,568,2188,0,0,0,0,0,0
$GC,7770,0.74,150.4,171.3,9.3,422,7774,0.00,2.20,0.00,0.000,6,0.000,0.038,2897,1987,2187,0,0,0,0,0,0
$GC,8097,0.74,150.4,138.4,9.6,452,8101,0.00,2.17,0.00,0.000,4,0.000,0.052,2897,3392,2187,0,0,0,0,0,0
$GC,8202,0.74,150.4,127.5,10.2,461,8207,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1978,2187,0,0,0,0,0,0
$GC,8529,0.74,150.4,95.6,10.2,491,8533,0.00,2.25,0.00,0.000,4,0.000,0.057,2916,561,2187,0,0,0,0,0,0
$GC,8570,0.74,150.4,91.6,9.9,494,8575,0.12,2.20,0.00,0.000,6,0.130,0.038,2879,1986,2187,0,0,0,0,0,0
$GC,8899,0.77,174.4,66.2,8.0,539,8928,0.00,2.28,22.48,0.486,4,0.000,0.054,2886,556,2087,0,0,0,0,0,0
$GC,8970,0.77,174.4,59.9,9.6,551,8976,0.00,2.22,0.00,0.000,6,0.000,0.038,2886,1986,2086,0,0,0,0,0,0
$GC,9302,0.79,186.5,29.4,8.5,612,9323,0.00,2.33,11.38,0.430,4,0.000,0.053,2890,573,2037,0,0,0,0,0,0
$GC,9352,0.80,195.2,25.0,8.7,620,9367,0.00,2.20,8.75,0.409,6,0.000,0.036,2891,1977,2003,0,0,0,0,0,0
$GC,9529,0.83,222.3,10.0,7.9,652,9556,0.00,0.00,24.00,0.437,6,0.000,0.000,2891,1977,1891,0,0,0,0,0,0
$STATE,9620,end climb,SURFACE_DEPTH_REACHED
$STATE,9620,begin surface coast
$FINISH,0.5,1.018303
$STATE,9655,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SM_CCo,9673,38.95,0.427,0,0,1574,300.24
$SM_GC,1.61,0.00,0.00,38.95,0.000,0.000,0.427,44,1985,1574,-8.11,0.79,300.24
$IRIDIUM_FIX,2050.21,-15745.35,070902,202008
$TT8_MAMPS,0.028379
$HUMID,64.76
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,420.3,40.6
$24V_AH,24.5,38.573
$10V_AH,10.4,42.436
$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,18.850,80.825,312.825,38.950,0.000,26.049,38.114,160.243,17.750,0.000,16.993,1224.904,5682.832,420.432,2253.135,487.731,0.000,1226.418,0.000,2207.726,0.000,110.953,0.000
$DEVICE_MAMPS,226.265,64.428,760.864,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,456.837,395.896,1311.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38082,674
$CAP_FILE_SIZE,103004,0
$CFSIZE,260165632,232816640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,012658,2058.932,-15747.416,34,0.8,34,9.8