version: 66.06
glider: 523
mission: 4
dive: 490
start: 6 16 113 18 29 40
data:
$ID,523
$MISSION,4
$DIVE,490
$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,-45780.273
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,182004,2108.876,-15756.388,27,0.9,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.7
$GPS2,182923,2108.889,-15756.464,16,0.9,16,9.8
$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,93.9,24089,-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,-75.85,0.000,2,0.000,0.000,40,1968,3374,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.2,12,112,9.57,0.00,-0.45,0.000,6,0.225,0.000,2392,1969,3396,0,0,0,0,0,0
$GC,267,-0.74,-146.0,35.3,-15.4,44,275,0.00,2.30,0.00,0.000,4,0.000,0.055,2392,550,3398,0,0,0,0,0,0
$GC,354,-0.74,-146.0,49.0,-16.2,59,359,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1956,3398,0,0,0,0,0,0
$GC,683,-0.74,-146.0,94.0,-14.1,111,690,0.00,2.28,0.00,0.000,4,0.000,0.053,2384,548,3399,0,0,0,0,0,0
$GC,939,-0.74,-146.0,125.4,-11.8,134,943,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1968,3399,0,0,0,0,0,0
$GC,1267,-0.74,-146.0,162.6,-10.8,164,1271,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,546,3400,0,0,0,0,0,0
$GC,1474,-0.74,-146.0,186.6,-11.7,182,1480,0.10,2.17,0.00,0.000,6,0.139,0.035,2397,1961,3400,0,0,0,0,0,0
$GC,1804,-0.74,-146.0,217.4,-8.9,205,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1961,3400,0,0,0,0,0,0
$GC,2114,-0.74,-146.0,242.2,-8.1,220,2117,0.00,2.25,0.00,0.000,4,0.000,0.050,2397,545,3400,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,244.8,-8.5,221,2148,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1962,3400,0,0,0,0,0,0
$GC,2472,-0.74,-146.0,268.3,-6.8,237,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1963,3400,0,0,0,0,0,0
$GC,2780,-0.74,-146.0,291.7,-7.5,252,2784,0.00,2.22,0.00,0.000,4,0.000,0.054,2379,3365,3400,0,0,0,0,0,0
$GC,2874,-0.74,-146.0,299.0,-7.6,256,2878,0.00,2.20,0.00,0.000,6,0.000,0.041,2379,1954,3400,0,0,0,0,0,0
$GC,3217,-0.74,-146.0,319.7,-6.0,265,3222,0.00,2.25,0.00,0.000,4,0.000,0.054,2379,542,3400,0,0,0,0,0,0
$GC,3239,-0.74,-146.0,321.4,-7.4,265,3244,0.12,2.15,0.00,0.000,6,0.166,0.036,2401,1963,3400,0,0,0,0,0,0
$GC,3584,-0.74,-146.0,343.3,-6.8,274,3588,0.00,2.30,0.00,0.000,4,0.000,0.056,2402,548,3398,0,0,0,0,0,0
$GC,3844,-0.74,-146.0,363.4,-8.1,279,3848,0.00,2.17,0.00,0.000,6,0.000,0.038,2394,1956,3397,0,0,0,0,0,0
$GC,4176,-0.74,-146.0,385.1,-6.4,287,4180,0.00,2.28,0.00,0.000,4,0.000,0.057,2394,550,3394,0,0,0,0,0,0
$GC,4356,-0.74,-146.0,397.3,-7.0,291,4360,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1968,3393,0,0,0,0,0,0
$GC,4676,-0.74,-146.0,416.4,-6.2,299,4680,0.00,2.33,0.00,0.000,4,0.000,0.058,2384,542,3392,0,0,0,0,0,0
$GC,4766,-0.74,-146.0,423.3,-7.5,301,4770,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1955,3391,0,0,0,0,0,0
$GC,5087,-0.74,-146.0,445.9,-7.4,309,5091,0.00,2.28,0.00,0.000,4,0.000,0.059,2375,547,3388,0,0,0,0,0,0
$STATE,5134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5135,begin apogee
$GC,5144,-0.17,0.0,450.2,7.9,310,5268,0.68,0.00,120.62,0.757,6,0.125,0.000,2581,1988,2800,0,0,0,0,0,0
$STATE,5269,end apogee,CONTROL_FINISHED_OK
$STATE,5269,begin climb
$GC,5272,0.74,146.0,452.2,0.0,313,5410,0.85,2.40,126.72,0.732,4,0.075,0.061,2876,3388,2203,0,0,0,0,0,0
$GC,5596,0.74,146.0,412.6,13.3,320,5600,0.00,2.28,0.00,0.000,6,0.000,0.044,2885,1978,2197,0,0,0,0,0,0
$GC,5944,0.74,146.0,366.5,13.2,329,5948,0.00,2.30,0.00,0.000,4,0.000,0.067,2896,572,2195,0,0,0,0,0,0
$GC,5972,0.74,146.0,362.6,13.0,329,5976,0.00,2.22,0.00,0.000,6,0.000,0.043,2896,1987,2195,0,0,0,0,0,0
$GC,6309,0.74,146.0,320.0,11.9,338,6313,0.00,2.20,0.00,0.000,4,0.000,0.054,2896,3389,2193,0,0,0,0,0,0
$GC,6410,0.74,146.0,306.9,12.5,340,6414,0.00,2.22,0.00,0.000,6,0.000,0.049,2905,1980,2192,0,0,0,0,0,0
$GC,6726,0.74,146.0,269.0,12.5,354,6730,0.00,2.28,0.00,0.000,4,0.000,0.060,2916,560,2190,0,0,0,0,0,0
$GC,6754,0.74,146.0,265.2,13.2,355,6759,0.15,2.22,0.00,0.000,6,0.133,0.042,2874,1984,2190,0,0,0,0,0,0
$GC,7070,0.74,146.0,234.4,10.5,370,7074,0.00,2.17,0.00,0.000,4,0.000,0.052,2874,3386,2190,0,0,0,0,0,0
$GC,7199,0.74,146.0,218.5,11.7,376,7203,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1977,2189,0,0,0,0,0,0
$GC,7521,0.74,150.4,190.2,8.9,396,7525,0.00,2.22,0.00,0.000,4,0.000,0.051,2882,3385,2188,0,0,0,0,0,0
$GC,7551,0.74,150.4,187.2,10.4,398,7555,0.00,2.17,0.00,0.000,6,0.000,0.042,2891,1980,2188,0,0,0,0,0,0
$GC,7880,0.74,151.6,157.8,9.0,428,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1980,2188,0,0,0,0,0,0
$GC,8208,0.74,151.6,124.9,10.7,459,8212,0.00,2.30,0.00,0.000,4,0.000,0.058,2901,573,2188,0,0,0,0,0,0
$GC,8228,0.74,151.6,122.5,11.3,460,8232,0.00,2.17,0.00,0.000,6,0.000,0.037,2901,1979,2188,0,0,0,0,0,0
$GC,8556,0.74,151.6,86.0,10.4,490,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1979,2188,0,0,0,0,0,0
$GC,8890,0.74,151.6,56.3,9.8,545,8895,0.00,2.25,0.00,0.000,4,0.000,0.052,2901,3387,2189,0,0,0,0,0,0
$GC,9057,0.77,171.4,42.2,8.2,575,9085,0.00,2.22,20.25,0.463,6,0.000,0.040,2911,1980,2100,0,0,0,0,0,0
$GC,9410,0.78,179.4,14.6,8.7,640,9424,0.00,2.30,8.27,0.400,4,0.000,0.055,2910,3391,2067,0,0,0,0,0,0
$GC,9473,0.78,179.4,8.3,10.0,651,9481,0.00,2.28,0.00,0.000,6,0.000,0.047,2920,1990,2066,0,0,0,0,0,0
$STATE,9518,end climb,SURFACE_DEPTH_REACHED
$STATE,9518,begin surface coast
$FINISH,0.5,1.023138
$STATE,9541,end surface coast,CONTROL_FINISHED_OK
$STATE,9541,begin surface
$SM_CCo,9559,55.50,0.430,0,0,1574,300.24
$SM_GC,1.45,0.00,0.00,55.50,0.000,0.000,0.430,25,1950,1574,-8.17,-0.20,300.24
$IRIDIUM_FIX,2057.14,-15738.45,100902,181801
$TT8_MAMPS,0.027612
$HUMID,64.29
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.5,40.672
$10V_AH,10.3,44.815
$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,18.800,85.100,275.875,55.500,0.000,57.425,76.125,222.030,19.250,0.000,16.769,1233.298,5694.626,384.725,2227.167,632.216,0.000,1175.800,0.000,2179.515,0.000,122.072,0.000
$DEVICE_MAMPS,224.731,165.672,757.029,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.544,375.641,1269.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38212,663
$CAP_FILE_SIZE,106900,0
$CFSIZE,260165632,231596032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160613,211100,2108.974,-15755.744,26,1.8,26,9.8