version: 66.06
glider: 523
mission: 4
dive: 484
start: 6 16 113 1 40 30
data:
$ID,523
$MISSION,4
$DIVE,484
$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,-45669.367
$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
$GPS1,013401,2107.947,-15801.218,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.5
$GPS2,014014,2107.946,-15801.281,19,1.5,19,9.8
$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,87.3,31973,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.55,0.000,6,0.000,0.000,34,1980,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.4,13,118,9.60,2.30,0.00,0.000,4,0.225,0.051,2392,545,3397,0,0,0,0,0,0
$GC,133,-0.74,-146.0,15.1,-33.2,17,141,0.00,2.22,0.00,0.000,6,0.000,0.038,2384,1956,3398,0,0,0,0,0,0
$GC,303,-0.74,-146.0,44.4,-17.6,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3398,0,0,0,0,0,0
$GC,643,-0.74,-146.0,91.6,-12.3,101,647,0.00,2.25,0.00,0.000,4,0.000,0.052,2384,547,3399,0,0,0,0,0,0
$GC,839,-0.74,-146.0,117.8,-12.9,118,846,0.00,2.20,0.00,0.000,6,0.000,0.035,2375,1964,3400,0,0,0,0,0,0
$GC,1166,-0.74,-146.0,153.1,-10.0,149,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1964,3401,0,0,0,0,0,0
$GC,1484,-0.74,-146.0,188.3,-9.8,179,1488,0.00,2.22,0.00,0.000,4,0.000,0.057,2365,3365,3402,0,0,0,0,0,0
$GC,1519,-0.74,-146.0,192.1,-10.1,181,1526,0.10,2.28,0.00,0.000,6,0.127,0.044,2396,1958,3402,0,0,0,0,0,0
$GC,1838,-0.74,-146.0,220.1,-8.1,201,1842,0.00,2.22,0.00,0.000,4,0.000,0.052,2389,3361,3402,0,0,0,0,0,0
$GC,1871,-0.74,-146.0,222.8,-7.4,202,1876,0.00,2.22,0.00,0.000,6,0.000,0.044,2388,1946,3402,0,0,0,0,0,0
$GC,2189,-0.74,-146.0,248.0,-8.3,218,2193,0.00,2.22,0.00,0.000,4,0.000,0.054,2388,541,3402,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,270.9,-7.9,229,2454,0.00,2.15,0.00,0.000,6,0.000,0.034,2378,1968,3403,0,0,0,0,0,0
$GC,2766,-0.74,-146.0,294.0,-7.0,245,2770,0.00,2.30,0.00,0.000,4,0.000,0.052,2379,544,3403,0,0,0,0,0,0
$GC,2785,-0.74,-146.0,295.4,-7.0,246,2790,0.12,2.15,0.00,0.000,6,0.166,0.037,2402,1954,3402,0,0,0,0,0,0
$GC,3116,-0.74,-146.0,319.8,-8.1,256,3123,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,544,3403,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,337.3,-6.4,261,3379,0.00,2.17,0.00,0.000,6,0.000,0.038,2394,1955,3401,0,0,0,0,0,0
$GC,3707,-0.74,-146.0,358.0,-6.6,269,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1956,3399,0,0,0,0,0,0
$GC,4032,-0.74,-146.0,379.1,-6.3,277,4036,0.00,2.25,0.00,0.000,4,0.000,0.059,2383,3368,3398,0,0,0,0,0,0
$GC,4133,-0.74,-146.0,385.5,-5.9,279,4137,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1952,3397,0,0,0,0,0,0
$GC,4482,-0.74,-146.0,407.0,-6.4,288,4486,0.00,2.25,0.00,0.000,4,0.000,0.061,2383,547,3395,0,0,0,0,0,0
$GC,4515,-0.74,-146.0,409.6,-7.6,288,4521,0.00,2.17,0.00,0.000,6,0.000,0.039,2374,1959,3394,0,0,0,0,0,0
$GC,4847,-0.74,-146.0,434.1,-7.7,297,4851,0.00,2.28,0.00,0.000,4,0.000,0.061,2363,3368,3392,0,0,0,0,0,0
$GC,4953,-0.74,-146.0,442.1,-7.5,299,4958,0.15,2.22,0.00,0.000,6,0.141,0.045,2404,1953,3392,0,0,0,0,0,0
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5096,begin apogee
$GC,5102,-0.17,0.0,450.5,5.7,303,5227,0.55,0.00,121.18,0.758,6,0.111,0.000,2585,1953,2800,0,0,0,0,0,0
$STATE,5227,end apogee,CONTROL_FINISHED_OK
$STATE,5227,begin climb
$GC,5230,0.74,146.0,450.5,0.0,306,5366,0.85,2.50,127.38,0.734,4,0.072,0.056,2878,3389,2203,0,0,0,0,0,0
$GC,5383,0.74,146.0,433.5,13.7,310,5387,0.00,2.30,0.00,0.000,6,0.000,0.044,2887,1981,2201,0,0,0,0,0,0
$GC,5702,0.74,146.0,391.5,13.0,318,5706,0.00,2.33,0.00,0.000,4,0.000,0.059,2887,3392,2197,0,0,0,0,0,0
$GC,5803,0.74,146.0,378.1,12.3,320,5807,0.00,2.25,0.00,0.000,6,0.000,0.041,2897,1967,2195,0,0,0,0,0,0
$GC,6151,0.74,146.0,339.2,10.7,329,6155,0.00,2.28,0.00,0.000,4,0.000,0.051,2897,3397,2193,0,0,0,0,0,0
$GC,6178,0.74,146.0,336.1,10.9,329,6182,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1979,2193,0,0,0,0,0,0
$GC,6489,0.74,146.0,296.6,13.1,337,6493,0.00,2.22,0.00,0.000,4,0.000,0.055,2916,575,2191,0,0,0,0,0,0
$GC,6574,0.74,146.0,285.8,12.9,341,6579,0.15,2.17,0.00,0.000,6,0.135,0.035,2874,1995,2191,0,0,0,0,0,0
$GC,6906,0.74,146.0,247.3,11.3,357,6910,0.00,2.17,0.00,0.000,4,0.000,0.052,2874,3388,2190,0,0,0,0,0,0
$GC,7007,0.74,146.0,236.0,10.4,361,7011,0.00,2.17,0.00,0.000,6,0.000,0.038,2882,1978,2189,0,0,0,0,0,0
$GC,7328,0.74,146.0,203.2,10.3,377,7332,0.00,2.20,0.00,0.000,4,0.000,0.050,2882,3380,2189,0,0,0,0,0,0
$GC,7394,0.74,146.0,195.7,11.6,381,7401,0.00,2.20,0.00,0.000,6,0.000,0.039,2891,1983,2188,0,0,0,0,0,0
$GC,7721,0.74,146.0,160.6,10.5,412,7725,0.00,2.20,0.00,0.000,4,0.000,0.051,2891,3386,2188,0,0,0,0,0,0
$GC,7742,0.74,146.0,158.5,10.2,413,7746,0.00,2.20,0.00,0.000,6,0.000,0.041,2901,1977,2188,0,0,0,0,0,0
$GC,8068,0.74,146.0,124.7,9.9,443,8072,0.00,2.20,0.00,0.000,4,0.000,0.051,2901,3381,2187,0,0,0,0,0,0
$GC,8152,0.74,146.0,116.0,10.8,450,8157,0.12,2.17,0.00,0.000,6,0.149,0.039,2875,1980,2188,0,0,0,0,0,0
$GC,8481,0.80,199.9,89.5,6.8,480,8530,0.00,2.28,43.70,0.519,4,0.000,0.053,2884,575,1983,0,0,0,0,0,0
$GC,8561,0.83,220.1,83.6,8.2,487,8586,0.00,2.17,18.65,0.490,6,0.000,0.033,2884,1984,1901,0,0,0,0,0,0
$GC,8906,0.84,227.1,54.7,8.7,546,8918,0.00,0.00,7.30,0.415,6,0.000,0.000,2884,1985,1873,0,0,0,0,0,0
$GC,9243,0.86,248.5,29.2,8.1,608,9271,0.10,2.22,19.80,0.446,4,0.087,0.050,2963,3383,1785,0,0,0,0,0,0
$GC,9401,0.86,248.5,9.7,13.2,636,9409,0.15,2.25,0.00,0.000,6,0.111,0.047,2922,1988,1784,0,0,0,0,0,0
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9467,begin surface coast
$FINISH,0.5,1.016953
$STATE,9501,end surface coast,CONTROL_FINISHED_OK
$STATE,9501,begin surface
$SM_CCo,9518,24.42,0.421,0,0,1575,300.24
$SM_GC,1.24,0.00,0.00,24.42,0.000,0.000,0.421,51,1978,1575,-8.09,0.57,300.24
$IRIDIUM_FIX,2059.45,-15806.34,090902,232305
$TT8_MAMPS,0.028379
$HUMID,65.63
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,40.176
$10V_AH,10.3,44.226
$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,19.200,89.325,338.000,24.425,0.000,24.261,47.449,153.917,19.000,0.000,20.012,1208.563,5645.847,425.658,2142.131,490.545,0.000,1196.880,0.000,2091.032,0.000,119.245,0.000
$DEVICE_MAMPS,225.498,60.593,757.796,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.206,370.146,1244.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34984,654
$CAP_FILE_SIZE,103267,0
$CFSIZE,260165632,231899136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,042052,2107.986,-15800.308,39,0.9,39,9.8