version: 66.06
glider: 523
mission: 4
dive: 472
start: 6 14 113 15 42 57
data:
$ID,523
$MISSION,4
$DIVE,472
$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,-45437.219
$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,26
$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
$GPS1,153636,2059.341,-15752.421,20,1.2,20,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.3
$GPS2,154241,2059.359,-15752.430,19,0.8,19,9.8
$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,305.2,23522,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,41,1964,3350,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.3,12,114,9.48,2.30,-1.00,0.000,4,0.223,0.062,2381,3366,3396,0,0,0,0,0,0
$GC,236,-0.74,-146.0,28.1,-16.0,36,243,0.00,2.28,0.00,0.000,6,0.000,0.042,2381,1952,3398,0,0,0,0,0,0
$GC,411,-0.74,-146.0,60.9,-16.2,67,417,0.00,2.25,0.00,0.000,4,0.000,0.057,2381,542,3398,0,0,0,0,0,0
$GC,600,-0.74,-146.0,88.0,-13.3,97,608,0.08,2.20,0.00,0.000,6,0.157,0.033,2394,1969,3398,0,0,0,0,0,0
$GC,927,-0.74,-146.0,127.4,-11.4,128,931,0.00,2.30,0.00,0.000,4,0.000,0.051,2394,547,3400,0,0,0,0,0,0
$GC,1060,-0.74,-146.0,142.1,-10.0,139,1067,0.00,2.17,0.00,0.000,6,0.000,0.032,2386,1962,3400,0,0,0,0,0,0
$GC,1387,-0.74,-146.0,177.0,-11.7,170,1391,0.00,2.28,0.00,0.000,4,0.000,0.050,2386,548,3400,0,0,0,0,0,0
$GC,1462,-0.74,-146.0,184.4,-9.5,176,1469,0.00,2.15,0.00,0.000,6,0.000,0.032,2377,1967,3400,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,212.3,-7.5,200,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1967,3401,0,0,0,0,0,0
$GC,2100,-0.74,-146.0,237.4,-8.2,215,2104,0.00,2.28,0.00,0.000,4,0.000,0.050,2376,544,3402,0,0,0,0,0,0
$GC,2357,-0.74,-146.0,260.6,-9.1,226,2363,0.12,2.15,0.00,0.000,6,0.164,0.033,2399,1960,3401,0,0,0,0,0,0
$GC,2676,-0.74,-146.0,284.3,-8.2,242,2681,0.00,2.30,0.00,0.000,4,0.000,0.053,2399,540,3401,0,0,0,0,0,0
$GC,2934,-0.74,-146.0,307.0,-8.0,251,2938,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1955,3401,0,0,0,0,0,0
$GC,3268,-0.74,-146.0,330.0,-6.7,259,3272,0.00,2.30,0.00,0.000,4,0.000,0.054,2391,549,3401,0,0,0,0,0,0
$GC,3335,-0.74,-146.0,335.3,-7.5,260,3339,0.00,2.15,0.00,0.000,6,0.000,0.036,2381,1955,3400,0,0,0,0,0,0
$GC,3672,-0.74,-146.0,359.3,-7.2,269,3676,0.00,2.30,0.00,0.000,4,0.000,0.056,2381,549,3398,0,0,0,0,0,0
$GC,3852,-0.74,-146.0,372.2,-6.7,273,3857,0.12,2.15,0.00,0.000,6,0.162,0.038,2405,1955,3397,0,0,0,0,0,0
$GC,4179,-0.74,-146.0,386.3,-4.0,281,4183,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,548,3395,0,0,0,0,0,0
$GC,4230,-0.74,-146.0,388.8,-4.6,282,4234,0.00,2.20,0.00,0.000,6,0.000,0.039,2397,1963,3395,0,0,0,0,0,0
$GC,4544,-0.74,-146.0,406.3,-6.1,290,4548,0.00,2.30,0.00,0.000,4,0.000,0.058,2397,544,3393,0,0,0,0,0,0
$GC,4729,-0.74,-146.0,419.8,-7.1,294,4734,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1960,3391,0,0,0,0,0,0
$GC,5048,-0.74,-146.0,439.5,-5.9,302,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1961,3390,0,0,0,0,0,0
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5256,-0.17,0.0,451.6,5.9,307,5380,0.62,0.00,120.95,0.763,6,0.120,0.000,2586,1960,2800,0,0,0,0,0,0
$STATE,5381,end apogee,CONTROL_FINISHED_OK
$STATE,5381,begin climb
$GC,5384,0.74,146.0,452.4,0.0,310,5522,0.82,2.40,126.88,0.738,4,0.077,0.053,2871,3388,2203,0,0,0,0,0,0
$GC,5572,0.74,146.0,432.4,13.0,314,5577,0.00,2.30,0.00,0.000,6,0.000,0.041,2880,1982,2200,0,0,0,0,0,0
$GC,5915,0.74,146.0,384.3,14.4,323,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1982,2196,0,0,0,0,0,0
$GC,6240,0.74,146.0,338.8,13.6,331,6244,0.00,2.28,0.00,0.000,4,0.000,0.058,2880,3395,2194,0,0,0,0,0,0
$GC,6334,0.74,146.0,325.7,13.6,333,6338,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,1980,2192,0,0,0,0,0,0
$GC,6649,0.74,146.0,285.8,12.0,343,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1980,2192,0,0,0,0,0,0
$GC,6958,0.74,146.0,250.7,10.5,358,6962,0.00,2.28,0.00,0.000,4,0.000,0.059,2900,561,2190,0,0,0,0,0,0
$GC,6985,0.74,146.0,247.7,11.0,359,6989,0.00,2.22,0.00,0.000,6,0.000,0.039,2900,1988,2190,0,0,0,0,0,0
$GC,7301,0.74,146.0,212.2,11.9,374,7305,0.00,2.20,0.00,0.000,4,0.000,0.054,2900,3386,2189,0,0,0,0,0,0
$GC,7421,0.74,146.0,197.3,12.9,380,7426,0.12,2.25,0.00,0.000,6,0.153,0.049,2874,1978,2189,0,0,0,0,0,0
$GC,7748,0.75,154.1,164.5,8.7,410,7759,0.00,2.30,5.65,0.478,4,0.000,0.056,2874,3388,2170,0,0,0,0,0,0
$GC,7784,0.75,154.1,161.3,9.3,413,7788,0.00,2.22,0.00,0.000,6,0.000,0.046,2880,1980,2169,0,0,0,0,0,0
$GC,8111,0.75,154.1,132.0,9.5,443,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2168,0,0,0,0,0,0
$GC,8431,0.75,156.5,105.1,8.9,473,8435,0.00,2.28,0.00,0.000,4,0.000,0.057,2891,556,2169,0,0,0,0,0,0
$GC,8483,0.75,156.5,100.5,9.0,477,8487,0.00,2.20,0.00,0.000,6,0.000,0.038,2891,1979,2168,0,0,0,0,0,0
$GC,8810,0.75,156.5,70.7,9.2,516,8817,0.00,2.25,0.00,0.000,4,0.000,0.052,2891,3385,2168,0,0,0,0,0,0
$GC,8968,0.77,171.9,56.0,8.4,544,8991,0.00,2.25,16.73,0.469,6,0.000,0.042,2899,1980,2098,0,0,0,0,0,0
$GC,9321,0.87,251.0,32.2,5.8,608,9394,0.00,0.00,67.10,0.464,6,0.000,0.000,2899,1980,1774,0,0,0,0,0,0
$GC,9554,0.87,251.0,12.3,10.5,650,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1980,1773,0,0,0,0,0,0
$STATE,9670,end climb,SURFACE_DEPTH_REACHED
$STATE,9670,begin surface coast
$FINISH,0.6,0.997665
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9727,23.77,0.418,0,0,1576,300.24
$SM_GC,1.44,0.00,0.00,23.77,0.000,0.000,0.418,30,1977,1576,-8.16,0.57,300.24
$IRIDIUM_FIX,2047.91,-16019.37,080902,131351
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.5,39.119
$10V_AH,10.4,43.033
$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,18.675,76.400,337.300,23.775,0.000,30.153,36.581,161.529,19.000,0.000,20.438,1231.919,5728.264,384.837,2273.318,495.162,0.000,1190.861,0.000,2220.593,0.000,117.259,0.000
$DEVICE_MAMPS,223.197,62.127,763.165,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,460.481,386.960,1341.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38218,679
$CAP_FILE_SIZE,103160,0
$CFSIZE,260165632,232509440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,182704,2059.888,-15753.880,56,0.8,56,9.8