version: 66.06
glider: 523
mission: 4
dive: 488
start: 6 16 113 12 48 34
data:
$ID,523
$MISSION,4
$DIVE,488
$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,-45746.047
$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,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
$GPS1,124228,2108.502,-15758.091,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.5
$GPS2,124817,2108.507,-15758.118,17,1.1,17,9.8
$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,91.0,26734,-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,-75.95,0.000,2,0.000,0.000,46,1969,3346,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.4,12,112,9.60,0.00,-1.12,0.000,6,0.227,0.000,2390,1964,3398,0,0,0,0,0,0
$GC,267,-0.74,-146.0,34.4,-12.9,44,275,0.00,2.30,0.00,0.000,4,0.000,0.056,2390,557,3399,0,0,0,0,0,0
$GC,342,-0.74,-146.0,45.7,-16.0,57,348,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1956,3399,0,0,0,0,0,0
$GC,672,-0.74,-146.0,87.3,-10.5,112,676,0.00,2.25,0.00,0.000,4,0.000,0.056,2372,3362,3400,0,0,0,0,0,0
$GC,704,-0.74,-146.0,91.3,-10.8,114,712,0.00,2.28,0.00,0.000,6,0.000,0.045,2372,1959,3400,0,0,0,0,0,0
$GC,1031,-0.74,-146.0,127.8,-10.0,145,1035,0.00,2.25,0.00,0.000,4,0.000,0.057,2372,544,3402,0,0,0,0,0,0
$GC,1285,-0.74,-146.0,155.6,-10.7,167,1292,0.10,2.17,0.00,0.000,6,0.140,0.034,2394,1959,3402,0,0,0,0,0,0
$GC,1612,-0.74,-146.0,183.2,-8.5,198,1616,0.00,2.35,0.00,0.000,4,0.000,0.053,2395,538,3403,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,203.2,-10.4,214,1814,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1959,3403,0,0,0,0,0,0
$GC,2133,-0.74,-146.0,229.2,-7.4,230,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1959,3403,0,0,0,0,0,0
$GC,2443,-0.74,-146.0,255.5,-8.4,245,2447,0.00,2.33,0.00,0.000,4,0.000,0.053,2387,534,3403,0,0,0,0,0,0
$GC,2499,-0.74,-146.0,260.9,-9.1,247,2503,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1969,3403,0,0,0,0,0,0
$GC,2817,-0.74,-146.0,285.0,-7.5,262,2824,0.00,2.22,0.00,0.000,4,0.000,0.056,2367,3358,3403,0,0,0,0,0,0
$GC,2903,-0.74,-146.0,292.8,-9.3,265,2909,0.12,2.20,0.00,0.000,6,0.146,0.043,2400,1953,3403,0,0,0,0,0,0
$GC,3218,-0.74,-146.0,314.4,-6.5,276,3222,0.00,2.28,0.00,0.000,4,0.000,0.058,2400,542,3403,0,0,0,0,0,0
$GC,3354,-0.74,-146.0,323.9,-7.3,279,3358,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,1961,3402,0,0,0,0,0,0
$GC,3675,-0.74,-146.0,344.2,-6.3,287,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1961,3401,0,0,0,0,0,0
$GC,3999,-0.74,-146.0,366.3,-6.4,295,4003,0.00,2.33,0.00,0.000,4,0.000,0.058,2392,547,3399,0,0,0,0,0,0
$GC,4105,-0.74,-146.0,374.7,-8.1,297,4112,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1955,3398,0,0,0,0,0,0
$GC,4456,-0.74,-146.0,399.9,-7.1,306,4461,0.00,2.30,0.00,0.000,4,0.000,0.058,2382,547,3396,0,0,0,0,0,0
$GC,4587,-0.74,-146.0,410.3,-8.1,308,4593,0.00,2.20,0.00,0.000,6,0.000,0.039,2373,1965,3396,0,0,0,0,0,0
$GC,4919,-0.74,-146.0,434.8,-7.2,317,4924,0.00,2.35,0.00,0.000,4,0.000,0.061,2373,542,3394,0,0,0,0,0,0
$GC,5076,-0.74,-146.0,446.7,-7.3,320,5081,0.15,2.17,0.00,0.000,6,0.155,0.041,2404,1956,3392,0,0,0,0,0,0
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5179,-0.17,0.0,452.0,5.4,323,5303,0.55,0.00,121.55,0.761,6,0.112,0.000,2584,1956,2800,0,0,0,0,0,0
$STATE,5304,end apogee,CONTROL_FINISHED_OK
$STATE,5304,begin climb
$GC,5307,0.74,146.0,451.8,0.0,326,5443,0.85,2.42,127.28,0.733,4,0.073,0.053,2876,3390,2203,0,0,0,0,0,0
$GC,5473,0.74,146.0,432.1,14.1,330,5478,0.00,2.30,0.00,0.000,6,0.000,0.041,2885,1982,2201,0,0,0,0,0,0
$GC,5821,0.74,146.0,382.7,13.8,339,5825,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,563,2197,0,0,0,0,0,0
$GC,5855,0.74,146.0,377.7,15.0,339,5860,0.00,2.22,0.00,0.000,6,0.000,0.042,2896,1977,2196,0,0,0,0,0,0
$GC,6186,0.74,146.0,328.5,15.0,348,6190,0.00,2.22,0.00,0.000,4,0.000,0.054,2896,3387,2194,0,0,0,0,0,0
$GC,6235,0.74,146.0,320.6,15.9,349,6239,0.00,2.28,0.00,0.000,6,0.000,0.048,2906,1971,2193,0,0,0,0,0,0
$GC,6551,0.74,146.0,277.7,11.8,361,6555,0.00,2.25,0.00,0.000,4,0.000,0.059,2916,561,2192,0,0,0,0,0,0
$GC,6590,0.74,146.0,273.0,12.5,362,6596,0.15,2.22,0.00,0.000,6,0.139,0.041,2874,1983,2192,0,0,0,0,0,0
$GC,6906,0.74,146.0,242.1,10.1,378,6910,0.00,2.20,0.00,0.000,4,0.000,0.052,2874,3395,2191,0,0,0,0,0,0
$GC,7046,0.74,146.0,227.2,11.0,384,7051,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1978,2190,0,0,0,0,0,0
$GC,7365,0.74,146.0,197.5,9.9,400,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1978,2189,0,0,0,0,0,0
$GC,7686,0.74,146.0,167.1,10.2,430,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1978,2189,0,0,0,0,0,0
$GC,8015,0.75,160.5,137.7,8.4,461,8031,0.00,2.25,11.23,0.522,4,0.000,0.059,2893,569,2144,0,0,0,0,0,0
$GC,8083,0.75,160.5,131.1,9.3,467,8087,0.00,2.22,0.00,0.000,6,0.000,0.042,2893,1993,2143,0,0,0,0,0,0
$GC,8411,0.75,160.5,99.9,9.0,497,8414,0.00,2.17,0.00,0.000,4,0.000,0.051,2892,3384,2142,0,0,0,0,0,0
$GC,8475,0.79,187.3,94.2,7.9,502,8503,0.00,2.17,23.92,0.514,6,0.000,0.040,2901,1980,2035,0,0,0,0,0,0
$GC,8824,0.80,196.4,61.9,8.7,552,8843,0.00,2.28,9.02,0.440,4,0.000,0.050,2901,3388,1998,0,0,0,0,0,0
$GC,9033,0.85,234.0,44.4,7.5,590,9074,0.00,2.22,33.35,0.470,6,0.000,0.040,2910,1980,1844,0,0,0,0,0,0
$GC,9397,0.85,234.0,12.0,9.1,657,9405,0.00,2.30,0.00,0.000,4,0.000,0.058,2921,573,1842,0,0,0,0,0,0
$GC,9435,0.90,279.2,9.4,7.2,663,9481,0.00,2.20,39.22,0.439,6,0.000,0.038,2920,1975,1660,0,0,0,0,0,0
$STATE,9513,end climb,SURFACE_DEPTH_REACHED
$STATE,9514,begin surface coast
$FINISH,0.4,1.014244
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9566,11.88,0.397,0,0,1575,300.24
$SM_GC,0.84,0.00,0.00,11.88,0.000,0.000,0.397,29,1981,1575,-8.16,0.68,300.24
$IRIDIUM_FIX,2104.07,-15758.18,100902,101018
$TT8_MAMPS,0.028379
$HUMID,64.88
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,40.506
$10V_AH,10.4,44.618
$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,19.000,85.200,365.575,11.875,0.000,27.478,35.161,152.592,19.000,0.000,17.445,1231.275,5556.466,418.796,2239.055,480.256,0.000,1215.635,0.000,2191.414,0.000,119.652,0.000
$DEVICE_MAMPS,227.032,60.593,760.864,397.306,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.297,388.844,1348.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38110,682
$CAP_FILE_SIZE,103306,0
$CFSIZE,260165632,231698432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160613,152926,2108.711,-15757.122,33,0.7,34,9.8