version: 66.06
glider: 523
mission: 4
dive: 477
start: 6 15 113 5 54 33
data:
$ID,523
$MISSION,4
$DIVE,477
$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,-45537.172
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,054734,2102.340,-15758.403,67,0.9,67,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.4
$GPS2,055417,2102.358,-15758.495,15,0.9,15,9.8
$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,321.1,12669,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.20,0.000,2,0.000,0.000,43,1978,3371,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.7,12,113,9.55,2.22,-0.50,0.000,4,0.225,0.063,2381,3371,3396,0,0,0,0,0,0
$GC,206,-0.74,-146.0,26.3,-15.3,31,214,0.00,2.28,0.00,0.000,6,0.000,0.047,2382,1967,3397,0,0,0,0,0,0
$GC,378,-0.74,-146.0,55.9,-15.3,62,386,0.00,2.33,0.00,0.000,4,0.000,0.058,2382,537,3398,0,0,0,0,0,0
$GC,633,-0.74,-146.0,93.0,-14.2,100,638,0.12,2.15,0.00,0.000,6,0.170,0.034,2404,1961,3399,0,0,0,0,0,0
$GC,960,-0.74,-146.0,129.4,-10.9,130,964,0.00,2.25,0.00,0.000,4,0.000,0.052,2403,537,3399,0,0,0,0,0,0
$GC,1106,-0.74,-146.0,143.1,-9.9,143,1110,0.00,2.17,0.00,0.000,6,0.000,0.033,2395,1968,3400,0,0,0,0,0,0
$GC,1435,-0.74,-146.0,170.8,-8.7,173,1439,0.00,2.28,0.00,0.000,4,0.000,0.051,2395,538,3400,0,0,0,0,0,0
$GC,1489,-0.74,-146.0,176.2,-8.5,177,1496,0.00,2.17,0.00,0.000,6,0.000,0.034,2386,1949,3401,0,0,0,0,0,0
$GC,1817,-0.74,-146.0,200.7,-7.3,208,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1949,3400,0,0,0,0,0,0
$GC,2125,-0.74,-146.0,226.3,-8.9,223,2129,0.00,2.30,0.00,0.000,4,0.000,0.052,2386,529,3401,0,0,0,0,0,0
$GC,2383,-0.74,-146.0,247.7,-7.6,234,2388,0.00,2.20,0.00,0.000,6,0.000,0.034,2376,1971,3401,0,0,0,0,0,0
$GC,2701,-0.74,-146.0,273.3,-8.3,250,2705,0.00,2.33,0.00,0.000,4,0.000,0.054,2376,540,3401,0,0,0,0,0,0
$GC,2734,-0.74,-146.0,276.4,-8.8,251,2740,0.12,2.17,0.00,0.000,6,0.166,0.035,2397,1968,3401,0,0,0,0,0,0
$GC,3055,-0.74,-146.0,301.1,-8.4,267,3059,0.00,2.20,0.00,0.000,4,0.000,0.055,2389,3361,3401,0,0,0,0,0,0
$GC,3218,-0.74,-146.0,311.9,-8.6,270,3222,0.00,2.22,0.00,0.000,6,0.000,0.041,2389,1941,3400,0,0,0,0,0,0
$GC,3550,-0.74,-146.0,333.6,-7.3,278,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1941,3400,0,0,0,0,0,0
$GC,3876,-0.74,-146.0,352.8,-5.1,286,3880,0.00,2.28,0.00,0.000,4,0.000,0.058,2389,539,3398,0,0,0,0,0,0
$GC,4050,-0.74,-146.0,364.4,-6.1,290,4055,0.00,2.17,0.00,0.000,6,0.000,0.037,2379,1953,3397,0,0,0,0,0,0
$GC,4377,-0.74,-146.0,386.0,-6.6,298,4381,0.00,2.33,0.00,0.000,4,0.000,0.059,2379,542,3395,0,0,0,0,0,0
$GC,4636,-0.74,-146.0,404.6,-6.7,303,4643,0.12,2.20,0.00,0.000,6,0.172,0.040,2401,1956,3393,0,0,0,0,0,0
$GC,4968,-0.74,-146.0,423.0,-5.6,312,4971,0.00,2.33,0.00,0.000,4,0.000,0.061,2401,550,3391,0,0,0,0,0,0
$GC,5105,-0.74,-146.0,431.9,-6.7,315,5109,0.00,2.20,0.00,0.000,6,0.000,0.042,2394,1956,3390,0,0,0,0,0,0
$STATE,5387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5387,begin apogee
$GC,5394,-0.17,0.0,450.3,6.8,322,5518,0.60,0.00,120.82,0.761,6,0.117,0.000,2585,1956,2800,0,0,0,0,0,0
$STATE,5519,end apogee,CONTROL_FINISHED_OK
$STATE,5519,begin climb
$GC,5521,0.74,146.0,453.5,0.0,325,5660,0.82,2.40,126.93,0.736,4,0.081,0.052,2868,3385,2202,0,0,0,0,0,0
$GC,5728,0.74,146.0,437.2,12.2,329,5734,0.00,2.33,0.00,0.000,6,0.000,0.047,2878,1972,2199,0,0,0,0,0,0
$GC,6060,0.74,146.0,398.7,12.0,338,6064,0.00,2.25,0.00,0.000,4,0.000,0.059,2888,573,2196,0,0,0,0,0,0
$GC,6105,0.74,146.0,392.9,13.3,339,6109,0.00,2.22,0.00,0.000,6,0.000,0.042,2889,1980,2195,0,0,0,0,0,0
$GC,6423,0.74,146.0,351.2,13.4,347,6427,0.00,2.22,0.00,0.000,4,0.000,0.053,2888,3390,2194,0,0,0,0,0,0
$GC,6463,0.74,146.0,346.3,11.8,348,6467,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1978,2193,0,0,0,0,0,0
$GC,6788,0.74,146.0,303.3,13.2,356,6792,0.00,2.28,0.00,0.000,4,0.000,0.059,2898,3383,2192,0,0,0,0,0,0
$GC,6850,0.74,146.0,295.8,12.2,358,6854,0.00,2.25,0.00,0.000,6,0.000,0.051,2907,1981,2191,0,0,0,0,0,0
$GC,7176,0.74,146.0,252.2,12.1,374,7180,0.00,2.28,0.00,0.000,4,0.000,0.059,2907,3386,2191,0,0,0,0,0,0
$GC,7271,0.74,146.0,240.3,12.4,378,7276,0.12,2.22,0.00,0.000,6,0.155,0.047,2879,1969,2190,0,0,0,0,0,0
$GC,7586,0.74,146.0,210.0,10.3,393,7590,0.00,2.25,0.00,0.000,4,0.000,0.065,2887,565,2189,0,0,0,0,0,0
$GC,7642,0.74,146.0,204.0,10.3,395,7648,0.00,2.22,0.00,0.000,6,0.000,0.043,2887,1975,2189,0,0,0,0,0,0
$GC,7968,0.74,146.0,169.2,10.2,424,7972,0.00,2.22,0.00,0.000,4,0.000,0.051,2887,3399,2189,0,0,0,0,0,0
$GC,8063,0.74,146.0,159.3,10.5,432,8067,0.00,2.20,0.00,0.000,6,0.000,0.040,2897,1977,2188,0,0,0,0,0,0
$GC,8391,0.74,146.0,125.7,9.9,462,8395,0.00,2.22,0.00,0.000,4,0.000,0.059,2907,572,2188,0,0,0,0,0,0
$GC,8475,0.74,146.0,117.3,9.9,469,8480,0.00,2.20,0.00,0.000,6,0.000,0.041,2907,1984,2188,0,0,0,0,0,0
$GC,8803,0.74,149.6,88.1,8.9,499,8807,0.00,2.17,0.00,0.000,4,0.000,0.051,2907,3389,2188,0,0,0,0,0,0
$GC,8876,0.74,149.6,81.0,10.3,505,8881,0.12,2.20,0.00,0.000,6,0.148,0.041,2876,1978,2188,0,0,0,0,0,0
$GC,9206,0.86,247.9,56.6,4.9,564,9298,0.12,2.30,83.57,0.490,4,0.075,0.054,2971,572,1788,0,0,0,0,0,0
$GC,9320,0.86,247.9,45.7,10.1,583,9326,0.17,2.22,0.00,0.000,6,0.124,0.036,2920,1981,1788,0,0,0,0,0,0
$GC,9650,0.86,247.9,17.3,9.8,644,9657,0.00,2.25,0.00,0.000,4,0.000,0.053,2920,3389,1788,0,0,0,0,0,0
$GC,9723,0.87,256.0,10.3,8.7,657,9738,0.00,2.25,8.30,0.393,6,0.000,0.041,2927,1978,1755,0,0,0,0,0,0
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.5,1.023205
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9839,22.90,0.423,0,0,1574,300.24
$SM_GC,1.65,0.00,0.00,22.90,0.000,0.000,0.423,40,1973,1574,-8.13,0.45,300.24
$IRIDIUM_FIX,2054.83,-15742.34,090902,030316
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,39.555
$10V_AH,10.4,43.534
$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,19.250,94.175,339.625,22.900,0.000,25.306,32.898,206.702,19.000,0.000,17.629,1250.387,5761.692,399.076,2307.793,542.428,0.000,1232.661,0.000,2260.925,0.000,119.204,0.000
$DEVICE_MAMPS,224.731,65.195,760.864,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,457.072,383.599,1315.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38080,674
$CAP_FILE_SIZE,110406,0
$CFSIZE,260165632,232251392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,084035,2103.395,-15759.492,60,1.0,60,9.8