version: 66.06
glider: 523
mission: 4
dive: 469
start: 6 14 113 7 24 6
data:
$ID,523
$MISSION,4
$DIVE,469
$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,-45380.359
$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,29
$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
$GPS1,070631,2057.840,-15749.165,13,1.3,13,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.1
$GPS2,072347,2057.883,-15749.348,14,2.0,14,9.8
$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,301.6,29277,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.75,0.000,2,0.000,0.000,36,1991,3390,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.4,12,112,9.57,2.15,0.00,0.000,4,0.224,0.044,2381,3373,3391,0,0,0,0,0,0
$GC,236,-0.74,-146.0,32.4,-16.2,37,242,0.00,2.28,0.00,0.000,6,0.000,0.044,2380,1950,3393,0,0,0,0,0,0
$GC,573,-0.74,-146.0,82.0,-12.1,98,577,0.00,2.22,0.00,0.000,4,0.000,0.054,2380,542,3393,0,0,0,0,0,0
$GC,828,-0.74,-146.0,119.7,-14.1,121,834,0.12,2.15,0.00,0.000,6,0.176,0.031,2402,1967,3393,0,0,0,0,0,0
$GC,1162,-0.74,-146.0,154.7,-10.1,152,1166,0.00,2.25,0.00,0.000,4,0.000,0.050,2401,544,3394,0,0,0,0,0,0
$GC,1288,-0.74,-146.0,168.1,-8.9,163,1295,0.00,2.15,0.00,0.000,6,0.000,0.032,2394,1952,3394,0,0,0,0,0,0
$GC,1616,-0.74,-146.0,197.1,-8.9,194,1620,0.00,2.25,0.00,0.000,4,0.000,0.051,2394,535,3394,0,0,0,0,0,0
$GC,1844,-0.74,-146.0,218.1,-8.2,205,1848,0.00,2.17,0.00,0.000,6,0.000,0.032,2383,1971,3395,0,0,0,0,0,0
$GC,2165,-0.74,-146.0,240.8,-7.3,220,2169,0.00,2.28,0.00,0.000,4,0.000,0.051,2383,535,3394,0,0,0,0,0,0
$GC,2198,-0.74,-146.0,243.9,-8.3,221,2204,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1962,3394,0,0,0,0,0,0
$GC,2516,-0.74,-146.0,268.1,-7.8,237,2520,0.00,2.28,0.00,0.000,4,0.000,0.051,2374,545,3394,0,0,0,0,0,0
$GC,2673,-0.74,-146.0,281.0,-7.1,244,2678,0.15,2.15,0.00,0.000,6,0.159,0.035,2404,1962,3394,0,0,0,0,0,0
$GC,2996,-0.74,-146.0,297.0,-5.8,260,3000,0.00,2.28,0.00,0.000,4,0.000,0.053,2406,546,3393,0,0,0,0,0,0
$GC,3254,-0.74,-146.0,320.3,-9.2,266,3260,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1956,3392,0,0,0,0,0,0
$GC,3586,-0.74,-146.0,346.3,-7.1,275,3591,0.00,2.30,0.00,0.000,4,0.000,0.055,2397,537,3389,0,0,0,0,0,0
$GC,3665,-0.74,-146.0,351.7,-6.7,276,3671,0.00,2.17,0.00,0.000,6,0.000,0.037,2387,1955,3389,0,0,0,0,0,0
$GC,3998,-0.74,-146.0,372.5,-6.4,285,4002,0.00,2.28,0.00,0.000,4,0.000,0.056,2387,547,3387,0,0,0,0,0,0
$GC,4245,-0.74,-146.0,388.0,-5.6,290,4249,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1966,3385,0,0,0,0,0,0
$GC,4585,-0.74,-146.0,407.2,-5.7,299,4589,0.00,2.30,0.00,0.000,4,0.000,0.057,2377,545,3383,0,0,0,0,0,0
$GC,4736,-0.74,-146.0,417.8,-7.6,302,4741,0.12,2.20,0.00,0.000,6,0.166,0.040,2400,1965,3382,0,0,0,0,0,0
$GC,5081,-0.74,-146.0,439.5,-6.6,311,5085,0.00,2.30,0.00,0.000,4,0.000,0.058,2400,546,3380,0,0,0,0,0,0
$GC,5131,-0.74,-146.0,443.4,-7.3,312,5135,0.00,2.20,0.00,0.000,6,0.000,0.041,2392,1954,3379,0,0,0,0,0,0
$STATE,5244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5244,begin apogee
$GC,5251,-0.17,0.0,450.7,6.5,315,5372,0.60,0.00,118.40,0.762,6,0.118,0.000,2583,1953,2800,0,0,0,0,0,0
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,0.74,146.0,451.7,0.0,318,5513,0.85,2.42,126.57,0.736,4,0.074,0.058,2874,3380,2203,0,0,0,0,0,0
$GC,5586,0.74,146.0,428.4,13.4,323,5591,0.00,2.30,0.00,0.000,6,0.000,0.046,2883,1976,2199,0,0,0,0,0,0
$GC,5899,0.74,146.0,388.6,12.6,331,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1976,2196,0,0,0,0,0,0
$GC,6224,0.74,146.0,352.0,10.6,339,6228,0.00,2.25,0.00,0.000,4,0.000,0.061,2894,569,2194,0,0,0,0,0,0
$GC,6281,0.74,146.0,346.3,9.8,340,6285,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1985,2193,0,0,0,0,0,0
$GC,6593,0.74,146.0,308.2,12.7,348,6597,0.00,2.20,0.00,0.000,4,0.000,0.053,2893,3397,2192,0,0,0,0,0,0
$GC,6694,0.74,146.0,294.1,13.5,350,6699,0.00,2.25,0.00,0.000,6,0.000,0.047,2901,1977,2191,0,0,0,0,0,0
$GC,7010,0.74,146.0,254.2,12.2,366,7014,0.00,2.22,0.00,0.000,4,0.000,0.059,2912,572,2190,0,0,0,0,0,0
$GC,7049,0.74,146.0,249.3,12.4,368,7054,0.12,2.20,0.00,0.000,6,0.140,0.041,2877,1982,2190,0,0,0,0,0,0
$GC,7376,0.74,146.0,215.8,9.8,384,7380,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3388,2189,0,0,0,0,0,0
$GC,7487,0.74,146.0,204.2,11.6,389,7491,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1968,2188,0,0,0,0,0,0
$GC,7814,0.74,146.0,171.9,10.4,417,7818,0.00,2.20,0.00,0.000,4,0.000,0.059,2896,575,2188,0,0,0,0,0,0
$GC,7931,0.74,146.0,157.5,11.8,427,7939,0.00,2.20,0.00,0.000,6,0.000,0.037,2896,1984,2188,0,0,0,0,0,0
$GC,8259,0.75,159.2,123.6,8.5,458,8279,0.00,2.22,9.90,0.516,4,0.000,0.051,2896,3385,2149,0,0,0,0,0,0
$GC,8315,0.75,159.2,118.6,9.2,463,8319,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,1975,2149,0,0,0,0,0,0
$GC,8643,0.79,187.3,89.3,7.9,493,8679,0.00,2.30,24.77,0.515,4,0.000,0.058,2915,568,2035,0,0,0,0,0,0
$GC,8695,0.82,212.4,84.7,8.0,497,8726,0.00,2.22,22.80,0.502,6,0.000,0.038,2915,1982,1932,0,0,0,0,0,0
$GC,9052,0.82,212.4,49.7,9.8,558,9059,0.00,2.25,0.00,0.000,4,0.000,0.051,2915,3386,1929,0,0,0,0,0,0
$GC,9095,0.82,212.4,45.6,9.9,565,9101,0.00,2.20,0.00,0.000,6,0.000,0.039,2924,1979,1929,0,0,0,0,0,0
$GC,9425,0.83,225.7,15.1,8.5,626,9446,0.00,2.30,12.45,0.424,4,0.000,0.059,2924,3387,1878,0,0,0,0,0,0
$GC,9472,0.83,225.7,10.9,9.5,633,9479,0.00,2.25,0.00,0.000,6,0.000,0.043,2934,1979,1877,0,0,0,0,0,0
$STATE,9535,end climb,SURFACE_DEPTH_REACHED
$STATE,9536,begin surface coast
$FINISH,0.7,1.023157
$STATE,9564,end surface coast,CONTROL_FINISHED_OK
$STATE,9564,begin surface
$SM_CCo,9582,34.90,0.430,0,0,1574,300.24
$SM_GC,1.49,0.00,0.00,34.90,0.000,0.000,0.430,49,1965,1574,-8.10,0.23,300.24
$IRIDIUM_FIX,2050.21,-15729.91,080902,070729
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,440.5,56.8
$24V_AH,24.5,38.863
$10V_AH,10.4,42.740
$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,18.900,93.650,314.900,34.900,0.000,112.877,157.547,428.365,18.750,0.000,16.778,1222.343,5769.111,405.985,2263.942,991.490,0.000,1231.643,0.000,2212.437,0.000,117.223,0.000
$DEVICE_MAMPS,223.964,60.593,762.398,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,442.519,368.926,1245.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35027,650
$CAP_FILE_SIZE,119252,0
$CFSIZE,260165632,232648704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,100534,2058.644,-15750.329,31,0.9,31,9.8