version: 66.06
glider: 523
mission: 4
dive: 483
start: 6 15 113 22 54 16
data:
$ID,523
$MISSION,4
$DIVE,483
$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,-45648.727
$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,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
$GPS1,224805,2108.010,-15802.404,14,0.9,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,225359,2107.988,-15802.476,17,0.8,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,87.0,34032,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.80,0.000,2,0.000,0.000,23,1977,3357,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.9,12,113,9.57,2.38,-0.85,0.000,4,0.223,0.067,2391,538,3398,0,0,0,0,0,0
$GC,189,-0.74,-146.0,23.4,-16.7,28,196,0.00,2.22,0.00,0.000,6,0.000,0.035,2383,1965,3399,0,0,0,0,0,0
$GC,361,-0.74,-146.0,51.3,-15.8,59,367,0.00,2.33,0.00,0.000,4,0.000,0.055,2383,538,3400,0,0,0,0,0,0
$GC,408,-0.74,-146.0,59.2,-16.4,67,413,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1963,3400,0,0,0,0,0,0
$GC,738,-0.74,-146.0,106.5,-12.3,110,742,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,547,3400,0,0,0,0,0,0
$GC,968,-0.74,-146.0,135.8,-11.0,131,973,0.15,2.15,0.00,0.000,6,0.160,0.034,2404,1973,3401,0,0,0,0,0,0
$GC,1296,-0.74,-146.0,165.4,-8.7,161,1300,0.00,2.28,0.00,0.000,4,0.000,0.052,2404,542,3403,0,0,0,0,0,0
$GC,1359,-0.74,-146.0,171.8,-10.4,166,1363,0.00,2.15,0.00,0.000,6,0.000,0.034,2396,1956,3403,0,0,0,0,0,0
$GC,1694,-0.74,-146.0,203.3,-7.9,195,1698,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,542,3404,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,209.4,-8.0,198,1770,0.00,2.12,0.00,0.000,6,0.000,0.034,2386,1957,3403,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,238.0,-10.1,213,2088,0.00,2.28,0.00,0.000,4,0.000,0.052,2386,534,3403,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,247.7,-10.4,217,2177,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1967,3403,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,271.3,-6.9,233,2501,0.00,2.20,0.00,0.000,4,0.000,0.054,2366,3357,3403,0,0,0,0,0,0
$GC,2547,-0.74,-146.0,275.0,-6.8,235,2552,0.12,2.22,0.00,0.000,6,0.147,0.043,2399,1952,3403,0,0,0,0,0,0
$GC,2869,-0.74,-146.0,297.7,-7.4,251,2873,0.00,2.25,0.00,0.000,4,0.000,0.055,2399,541,3403,0,0,0,0,0,0
$GC,3128,-0.74,-146.0,320.0,-7.9,257,3133,0.00,2.17,0.00,0.000,6,0.000,0.035,2391,1963,3403,0,0,0,0,0,0
$GC,3461,-0.74,-146.0,341.9,-5.8,266,3466,0.00,2.30,0.00,0.000,4,0.000,0.056,2391,544,3403,0,0,0,0,0,0
$GC,3720,-0.74,-146.0,358.4,-6.7,271,3725,0.00,2.17,0.00,0.000,6,0.000,0.037,2381,1958,3401,0,0,0,0,0,0
$GC,4053,-0.74,-146.0,382.9,-7.9,280,4057,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,547,3400,0,0,0,0,0,0
$GC,4217,-0.74,-146.0,396.0,-7.8,283,4221,0.12,2.15,0.00,0.000,6,0.162,0.038,2404,1960,3398,0,0,0,0,0,0
$GC,4549,-0.74,-146.0,410.5,-3.5,291,4553,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,548,3397,0,0,0,0,0,0
$GC,4645,-0.74,-146.0,414.5,-4.4,293,4649,0.00,2.17,0.00,0.000,6,0.000,0.040,2397,1954,3396,0,0,0,0,0,0
$GC,4960,-0.74,-146.0,431.8,-6.2,301,4964,0.00,2.28,0.00,0.000,4,0.000,0.060,2397,548,3394,0,0,0,0,0,0
$GC,5011,-0.74,-146.0,435.3,-6.5,302,5016,0.00,2.17,0.00,0.000,6,0.000,0.041,2387,1955,3393,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5289,-0.17,0.0,451.2,5.9,309,5413,0.62,0.00,121.25,0.762,6,0.117,0.000,2587,1956,2800,0,0,0,0,0,0
$STATE,5414,end apogee,CONTROL_FINISHED_OK
$STATE,5414,begin climb
$GC,5417,0.74,146.0,451.9,0.0,312,5550,0.82,0.00,126.97,0.736,6,0.072,0.000,2877,1957,2204,0,0,0,0,0,0
$GC,5863,0.74,146.0,391.2,15.4,323,5868,0.00,2.30,0.00,0.000,4,0.000,0.060,2877,3387,2196,0,0,0,0,0,0
$GC,5998,0.74,146.0,371.5,13.7,326,6002,0.00,2.28,0.00,0.000,6,0.000,0.048,2886,1974,2195,0,0,0,0,0,0
$GC,6322,0.74,146.0,327.2,13.9,334,6326,0.00,2.30,0.00,0.000,4,0.000,0.058,2886,3390,2193,0,0,0,0,0,0
$GC,6371,0.74,146.0,320.0,15.9,335,6375,0.00,2.28,0.00,0.000,6,0.000,0.049,2895,1980,2192,0,0,0,0,0,0
$GC,6687,0.74,146.0,278.5,12.4,347,6691,0.00,2.28,0.00,0.000,4,0.000,0.067,2906,572,2192,0,0,0,0,0,0
$GC,6727,0.74,146.0,273.3,13.8,349,6731,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1987,2191,0,0,0,0,0,0
$GC,7053,0.74,146.0,231.2,12.9,365,7057,0.00,2.22,0.00,0.000,4,0.000,0.062,2906,3384,2190,0,0,0,0,0,0
$GC,7166,0.74,146.0,216.1,13.6,370,7171,0.15,2.25,0.00,0.000,6,0.144,0.049,2874,1973,2189,0,0,0,0,0,0
$GC,7494,0.74,146.0,183.0,10.0,394,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1973,2189,0,0,0,0,0,0
$GC,7815,0.76,168.7,155.4,8.1,424,7838,0.00,2.33,17.55,0.565,4,0.000,0.058,2873,3390,2113,0,0,0,0,0,0
$GC,7952,0.76,168.7,141.0,11.1,436,7959,0.00,2.33,0.00,0.000,6,0.000,0.050,2880,1974,2111,0,0,0,0,0,0
$GC,8281,0.79,187.1,109.7,8.3,467,8300,0.00,0.00,17.30,0.518,6,0.000,0.000,2880,1974,2036,0,0,0,0,0,0
$GC,8616,0.79,190.2,77.1,8.9,502,8625,0.00,2.33,4.00,0.356,4,0.000,0.058,2890,555,2023,0,0,0,0,0,0
$GC,8704,0.79,190.2,69.2,9.0,517,8710,0.00,2.22,0.00,0.000,6,0.000,0.041,2891,1977,2022,0,0,0,0,0,0
$GC,9037,0.88,263.3,43.6,6.0,578,9106,0.00,2.22,62.95,0.475,4,0.000,0.050,2890,3390,1725,0,0,0,0,0,0
$GC,9196,0.91,284.8,32.3,8.1,606,9227,0.08,2.30,19.80,0.440,6,0.041,0.042,2966,1969,1636,0,0,0,0,0,0
$GC,9387,0.91,284.8,9.8,12.3,641,9395,0.12,2.30,0.00,0.000,4,0.137,0.059,2940,577,1635,0,0,0,0,0,0
$GC,9441,0.91,284.8,3.6,13.5,650,9448,0.00,2.22,0.00,0.000,6,0.000,0.039,2941,1980,1635,0,0,0,0,0,0
$STATE,9454,end climb,SURFACE_DEPTH_REACHED
$STATE,9454,begin surface coast
$FINISH,0.7,1.011419
$STATE,9477,end surface coast,CONTROL_FINISHED_OK
$STATE,9477,begin surface
$SM_CCo,9495,8.98,0.386,0,0,1575,300.24
$SM_GC,1.57,0.00,0.00,8.98,0.000,0.000,0.386,34,1980,1575,-8.15,0.62,300.24
$IRIDIUM_FIX,2057.14,-15804.20,090902,202048
$TT8_MAMPS,0.028379
$HUMID,65.90
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.5,40.094
$10V_AH,10.4,44.131
$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,19.175,89.825,369.825,8.975,0.000,28.705,42.157,144.943,19.250,0.000,17.774,1209.276,5544.148,402.344,2217.631,482.369,0.000,1217.784,0.000,2172.445,0.000,117.259,0.000
$DEVICE_MAMPS,223.197,67.496,762.398,385.801,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.866,376.927,1267.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34982,656
$CAP_FILE_SIZE,105785,0
$CFSIZE,260165632,231948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,013401,2107.947,-15801.218,42,0.9,42,9.8