version: 66.06
glider: 523
mission: 4
dive: 479
start: 6 15 113 11 38 52
data:
$ID,523
$MISSION,4
$DIVE,479
$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,-45575.812
$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
$GPS1,112503,2104.149,-15800.273,25,0.7,25,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,113836,2104.180,-15800.369,21,0.8,21,9.8
$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,329.4,8232,-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,-75.65,0.000,2,0.000,0.000,30,1962,3389,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.9,12,112,9.62,2.17,0.00,0.000,4,0.225,0.044,2382,3366,3390,0,0,0,0,0,0
$GC,219,-0.74,-146.0,30.4,-16.7,34,226,0.00,2.28,0.00,0.000,6,0.000,0.041,2382,1950,3392,0,0,0,0,0,0
$GC,552,-0.74,-146.0,75.6,-11.3,95,558,0.00,2.25,0.00,0.000,4,0.000,0.054,2382,542,3393,0,0,0,0,0,0
$GC,806,-0.74,-146.0,106.5,-11.0,121,810,0.00,2.17,0.00,0.000,6,0.000,0.034,2373,1968,3393,0,0,0,0,0,0
$GC,1134,-0.74,-146.0,146.2,-13.3,151,1138,0.10,2.28,0.00,0.000,4,0.173,0.052,2397,545,3394,0,0,0,0,0,0
$GC,1338,-0.74,-146.0,171.1,-11.6,169,1342,0.00,2.12,0.00,0.000,6,0.000,0.032,2389,1965,3394,0,0,0,0,0,0
$GC,1673,-0.74,-146.0,204.2,-8.4,198,1677,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,534,3394,0,0,0,0,0,0
$GC,1762,-0.74,-146.0,212.4,-9.1,202,1766,0.00,2.17,0.00,0.000,6,0.000,0.034,2379,1966,3394,0,0,0,0,0,0
$GC,2086,-0.74,-146.0,241.3,-9.5,218,2090,0.00,2.25,0.00,0.000,4,0.000,0.051,2379,545,3394,0,0,0,0,0,0
$GC,2130,-0.74,-146.0,246.4,-10.9,220,2135,0.12,2.15,0.00,0.000,6,0.168,0.034,2402,1961,3394,0,0,0,0,0,0
$GC,2451,-0.74,-146.0,273.8,-8.6,236,2455,0.00,2.17,0.00,0.000,4,0.000,0.053,2393,3359,3394,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,286.6,-7.6,243,2618,0.00,2.20,0.00,0.000,6,0.000,0.041,2393,1951,3394,0,0,0,0,0,0
$GC,2957,-0.74,-146.0,310.7,-7.6,257,2961,0.00,2.20,0.00,0.000,4,0.000,0.052,2383,3357,3394,0,0,0,0,0,0
$GC,3046,-0.74,-146.0,316.3,-5.3,259,3050,0.00,2.20,0.00,0.000,6,0.000,0.043,2383,1955,3394,0,0,0,0,0,0
$GC,3366,-0.74,-146.0,333.8,-5.5,267,3370,0.00,2.22,0.00,0.000,4,0.000,0.053,2383,545,3393,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,351.2,-8.4,272,3595,0.00,2.12,0.00,0.000,6,0.000,0.035,2374,1959,3391,0,0,0,0,0,0
$GC,3913,-0.74,-146.0,375.4,-7.2,280,3917,0.00,2.28,0.00,0.000,4,0.000,0.054,2373,547,3389,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,379.9,-7.9,281,3976,0.15,2.17,0.00,0.000,6,0.158,0.038,2404,1963,3389,0,0,0,0,0,0
$GC,4287,-0.74,-146.0,397.8,-5.6,289,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1963,3387,0,0,0,0,0,0
$GC,4610,-0.74,-146.0,415.4,-4.8,297,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1963,3385,0,0,0,0,0,0
$GC,4935,-0.74,-146.0,428.7,-3.9,305,4939,0.00,2.30,0.00,0.000,4,0.000,0.059,2404,551,3382,0,0,0,0,0,0
$GC,5035,-0.74,-146.0,434.0,-5.5,307,5039,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1955,3381,0,0,0,0,0,0
$STATE,5342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5342,begin apogee
$GC,5349,-0.17,0.0,450.5,5.7,315,5471,0.57,0.00,119.03,0.764,6,0.118,0.000,2580,1955,2800,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5475,0.74,146.0,451.6,0.0,318,5613,0.85,2.42,126.55,0.736,4,0.077,0.058,2876,3379,2202,0,0,0,0,0,0
$GC,5682,0.74,146.0,426.9,15.7,322,5688,0.00,2.33,0.00,0.000,6,0.000,0.047,2885,1977,2199,0,0,0,0,0,0
$GC,6013,0.74,146.0,379.3,14.2,331,6017,0.00,2.33,0.00,0.000,4,0.000,0.061,2885,3396,2195,0,0,0,0,0,0
$GC,6074,0.74,146.0,369.5,16.1,332,6078,0.00,2.25,0.00,0.000,6,0.000,0.040,2895,1973,2194,0,0,0,0,0,0
$GC,6416,0.74,146.0,319.1,14.2,341,6420,0.00,2.25,0.00,0.000,4,0.000,0.054,2905,567,2193,0,0,0,0,0,0
$GC,6465,0.74,146.0,312.2,13.2,342,6470,0.00,2.20,0.00,0.000,6,0.000,0.035,2905,1989,2192,0,0,0,0,0,0
$GC,6782,0.74,146.0,270.4,13.0,355,6786,0.00,2.20,0.00,0.000,4,0.000,0.051,2905,3386,2191,0,0,0,0,0,0
$GC,6882,0.74,146.0,257.2,12.6,359,6888,0.15,2.20,0.00,0.000,6,0.145,0.038,2873,1977,2190,0,0,0,0,0,0
$GC,7198,0.75,153.2,227.5,8.7,375,7208,0.00,2.22,5.18,0.495,4,0.000,0.049,2873,3390,2174,0,0,0,0,0,0
$GC,7242,0.75,153.2,223.6,9.1,377,7246,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1981,2173,0,0,0,0,0,0
$GC,7566,0.75,153.2,194.1,10.2,395,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1981,2172,0,0,0,0,0,0
$GC,7887,0.75,153.2,163.6,9.6,425,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1981,2171,0,0,0,0,0,0
$GC,8217,0.75,153.2,133.1,9.9,456,8221,0.00,2.20,0.00,0.000,4,0.000,0.054,2891,573,2171,0,0,0,0,0,0
$GC,8247,0.75,153.2,129.8,10.7,458,8251,0.00,2.15,0.00,0.000,6,0.000,0.034,2891,1995,2171,0,0,0,0,0,0
$GC,8575,0.75,160.5,99.0,8.7,488,8588,0.00,2.15,7.57,0.461,4,0.000,0.048,2891,3389,2144,0,0,0,0,0,0
$GC,8678,0.75,160.5,89.5,9.7,497,8683,0.00,2.20,0.00,0.000,6,0.000,0.048,2899,1987,2144,0,0,0,0,0,0
$GC,9006,0.79,187.1,62.7,7.9,546,9037,0.00,2.28,23.65,0.484,4,0.000,0.055,2909,568,2037,0,0,0,0,0,0
$GC,9118,0.84,233.4,53.9,7.1,565,9166,0.00,2.17,40.45,0.479,6,0.000,0.035,2910,1976,1847,0,0,0,0,0,0
$GC,9495,0.84,233.4,21.5,10.5,633,9502,0.00,2.25,0.00,0.000,4,0.000,0.053,2910,3379,1845,0,0,0,0,0,0
$GC,9552,0.84,233.4,15.0,12.0,643,9559,0.00,2.28,0.00,0.000,6,0.000,0.044,2918,1979,1844,0,0,0,0,0,0
$STATE,9671,end climb,SURFACE_DEPTH_REACHED
$STATE,9671,begin surface coast
$FINISH,0.8,1.023141
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$SM_CCo,9719,31.40,0.426,0,0,1574,300.24
$SM_GC,1.11,0.00,0.00,31.40,0.000,0.000,0.426,39,1974,1574,-8.13,0.48,300.24
$IRIDIUM_FIX,2057.14,-15756.04,090902,111117
$TT8_MAMPS,0.028379
$HUMID,65.00
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,39.738
$10V_AH,10.4,43.734
$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,18.900,84.475,322.425,31.400,0.000,82.315,108.072,329.971,19.000,0.000,21.823,1233.691,5906.675,392.849,2212.765,812.871,0.000,1181.694,0.000,2158.445,0.000,117.272,0.000
$DEVICE_MAMPS,225.498,60.593,763.932,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,454.809,379.277,1274.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38173,670
$CAP_FILE_SIZE,110432,0
$CFSIZE,260165632,232144896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,142235,2105.034,-15800.945,33,0.9,33,9.8