version: 66.06
glider: 523
mission: 4
dive: 482
start: 6 15 113 20 14 52
data:
$ID,523
$MISSION,4
$DIVE,482
$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,-45630.324
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,200752,2107.189,-15802.616,96,0.9,96,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.3
$GPS2,201435,2107.180,-15802.693,16,0.8,16,9.8
$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,17.1,2398,-17.6,-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,-0.75,-132.2,0.0,0.0,0,95,0.00,0.00,-75.70,0.000,6,0.000,0.000,41,1953,3340,0,0,0,0,0,0
$GC,99,-0.77,-146.0,2.8,-3.4,12,121,9.50,2.30,-1.25,0.000,4,0.225,0.064,2374,3372,3398,0,0,0,0,0,0
$GC,200,-0.77,-146.0,24.0,-16.8,30,208,0.00,2.28,0.00,0.000,6,0.000,0.041,2374,1953,3399,0,0,0,0,0,0
$GC,376,-0.77,-146.0,54.0,-17.0,61,381,0.00,2.22,0.00,0.000,4,0.000,0.056,2374,550,3399,0,0,0,0,0,0
$GC,436,-0.77,-146.0,66.0,-19.6,72,443,0.00,2.20,0.00,0.000,6,0.000,0.037,2365,1965,3399,0,0,0,0,0,0
$GC,767,-0.77,-146.0,111.8,-12.4,111,771,0.00,2.30,0.00,0.000,4,0.000,0.054,2365,550,3400,0,0,0,0,0,0
$GC,951,-0.77,-146.0,135.6,-11.0,127,956,0.15,2.15,0.00,0.000,6,0.164,0.034,2394,1974,3400,0,0,0,0,0,0
$GC,1283,-0.77,-146.0,168.9,-11.9,158,1287,0.00,2.30,0.00,0.000,4,0.000,0.051,2394,541,3401,0,0,0,0,0,0
$GC,1368,-0.77,-146.0,179.2,-10.7,165,1373,0.00,2.12,0.00,0.000,6,0.000,0.033,2385,1955,3401,0,0,0,0,0,0
$GC,1696,-0.77,-146.0,210.6,-9.6,191,1700,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,547,3402,0,0,0,0,0,0
$GC,1821,-0.77,-146.0,222.7,-9.7,196,1827,0.00,2.12,0.00,0.000,6,0.000,0.033,2376,1962,3402,0,0,0,0,0,0
$GC,2141,-0.77,-146.0,250.7,-7.7,212,2145,0.00,2.22,0.00,0.000,4,0.000,0.054,2366,3362,3402,0,0,0,0,0,0
$GC,2343,-0.77,-146.0,267.8,-7.6,221,2347,0.00,2.20,0.00,0.000,6,0.000,0.041,2366,1949,3402,0,0,0,0,0,0
$GC,2667,-0.77,-146.0,291.2,-7.0,237,2671,0.00,2.28,0.00,0.000,4,0.000,0.050,2356,3360,3402,0,0,0,0,0,0
$GC,2701,-0.77,-146.0,293.9,-7.3,238,2707,0.12,2.20,0.00,0.000,6,0.150,0.041,2388,1952,3401,0,0,0,0,0,0
$GC,3014,-0.77,-146.0,314.5,-6.6,249,3018,0.00,2.22,0.00,0.000,4,0.000,0.054,2388,540,3402,0,0,0,0,0,0
$GC,3266,-0.77,-146.0,334.2,-8.1,254,3270,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1968,3401,0,0,0,0,0,0
$GC,3598,-0.77,-146.0,359.2,-7.3,262,3602,0.00,2.30,0.00,0.000,4,0.000,0.054,2380,541,3399,0,0,0,0,0,0
$GC,3638,-0.77,-146.0,362.2,-7.2,263,3642,0.00,2.15,0.00,0.000,6,0.000,0.035,2371,1958,3399,0,0,0,0,0,0
$GC,3966,-0.77,-146.0,385.6,-7.2,271,3970,0.00,2.28,0.00,0.000,4,0.000,0.056,2371,548,3397,0,0,0,0,0,0
$GC,4180,-0.77,-146.0,404.4,-7.7,275,4186,0.12,2.15,0.00,0.000,6,0.161,0.037,2394,1957,3396,0,0,0,0,0,0
$GC,4514,-0.77,-146.0,420.7,-4.3,284,4518,0.00,2.30,0.00,0.000,4,0.000,0.056,2394,546,3394,0,0,0,0,0,0
$GC,4632,-0.77,-146.0,427.4,-6.2,286,4636,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1954,3393,0,0,0,0,0,0
$GC,4964,-0.77,-146.0,446.8,-6.2,294,4968,0.00,2.28,0.00,0.000,4,0.000,0.058,2386,548,3391,0,0,0,0,0,0
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5019,-0.17,0.0,450.4,7.8,295,5143,0.65,0.00,121.10,0.761,6,0.120,0.000,2582,1982,2800,0,0,0,0,0,0
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5147,0.77,146.0,451.1,0.0,298,5285,0.88,2.33,126.82,0.735,4,0.074,0.053,2887,3389,2202,0,0,0,0,0,0
$GC,5354,0.77,146.0,424.9,15.8,302,5360,0.00,2.30,0.00,0.000,6,0.000,0.042,2897,1981,2199,0,0,0,0,0,0
$GC,5685,0.77,146.0,377.2,14.3,311,5689,0.00,2.28,0.00,0.000,4,0.000,0.059,2907,563,2196,0,0,0,0,0,0
$GC,5746,0.77,146.0,368.3,14.1,312,5750,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1985,2195,0,0,0,0,0,0
$GC,6088,0.77,146.0,317.7,14.7,321,6092,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,3391,2193,0,0,0,0,0,0
$GC,6182,0.77,146.0,304.3,13.6,323,6186,0.00,2.22,0.00,0.000,6,0.000,0.041,2917,1979,2192,0,0,0,0,0,0
$GC,6499,0.77,146.0,262.7,12.9,337,6503,0.00,2.28,0.00,0.000,4,0.000,0.060,2928,562,2191,0,0,0,0,0,0
$GC,6540,0.77,146.0,257.4,14.4,339,6544,0.15,2.22,0.00,0.000,6,0.140,0.043,2886,1986,2191,0,0,0,0,0,0
$GC,6866,0.77,146.0,219.6,10.8,355,6870,0.00,2.20,0.00,0.000,4,0.000,0.053,2885,3398,2190,0,0,0,0,0,0
$GC,6916,0.77,146.0,214.2,10.9,357,6920,0.00,2.20,0.00,0.000,6,0.000,0.043,2894,1979,2189,0,0,0,0,0,0
$GC,7239,0.77,146.0,183.2,10.1,379,7243,0.00,2.22,0.00,0.000,4,0.000,0.054,2894,3390,2189,0,0,0,0,0,0
$GC,7302,0.77,146.0,176.4,11.1,384,7306,0.00,2.20,0.00,0.000,6,0.000,0.041,2901,1973,2189,0,0,0,0,0,0
$GC,7628,0.77,146.0,143.4,11.1,414,7633,0.00,2.22,0.00,0.000,4,0.000,0.055,2912,573,2188,0,0,0,0,0,0
$GC,7661,0.77,146.0,139.4,12.2,416,7668,0.00,2.20,0.00,0.000,6,0.000,0.036,2912,1981,2188,0,0,0,0,0,0
$GC,7988,0.77,146.0,101.7,11.3,447,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1982,2188,0,0,0,0,0,0
$GC,8306,0.82,189.2,73.6,7.1,484,8348,0.00,2.30,34.95,0.503,4,0.000,0.053,2922,567,2027,0,0,0,0,0,0
$GC,8363,0.88,239.0,69.7,6.8,493,8414,0.00,2.20,42.92,0.495,6,0.000,0.035,2922,1984,1824,0,0,0,0,0,0
$GC,8743,0.90,251.9,37.0,8.4,562,8763,0.00,2.22,12.57,0.436,4,0.000,0.053,2922,3385,1770,0,0,0,0,0,0
$GC,8890,0.90,251.9,22.5,9.9,588,8898,0.00,2.28,0.00,0.000,6,0.000,0.045,2931,1981,1769,0,0,0,0,0,0
$GC,9059,0.90,251.9,4.3,10.5,619,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1981,1769,0,0,0,0,0,0
$STATE,9071,end climb,SURFACE_DEPTH_REACHED
$STATE,9072,begin surface coast
$FINISH,0.5,1.004930
$STATE,9099,end surface coast,CONTROL_FINISHED_OK
$STATE,9099,begin surface
$SM_CCo,9117,21.83,0.417,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,21.83,0.000,0.000,0.417,23,1977,1575,-8.18,0.57,300.24
$IRIDIUM_FIX,2057.14,-15756.91,090902,171735
$TT8_MAMPS,0.028379
$HUMID,65.16
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.5,40.009
$10V_AH,10.4,44.035
$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,18.950,93.775,338.375,21.825,0.000,30.613,36.755,182.333,19.250,0.000,17.008,1148.616,5334.854,402.355,2124.981,528.071,0.000,1188.524,0.000,2076.262,0.000,119.225,0.000
$DEVICE_MAMPS,224.731,63.661,760.864,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.760,360.431,1216.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35042,626
$CAP_FILE_SIZE,103911,0
$CFSIZE,260165632,231997440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,224805,2108.010,-15802.404,14,0.9,14,9.8