version: 66.06
glider: 523
mission: 4
dive: 519
start: 6 20 113 9 8 46
data:
$ID,523
$MISSION,4
$DIVE,519
$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,-46342.969
$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,24
$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
$GPS1,090234,2058.300,-15749.943,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,090829,2058.304,-15750.024,16,1.2,16,9.8
$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,302.0,27885,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.72,0.000,6,0.000,0.000,49,1964,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.0,13,118,9.52,2.20,0.00,0.000,4,0.225,0.046,2381,3369,3396,0,0,0,0,0,0
$GC,226,-0.74,-146.0,31.0,-15.8,35,232,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1952,3396,0,0,0,0,0,0
$GC,554,-0.74,-146.0,77.1,-11.7,96,562,0.00,2.28,0.00,0.000,4,0.000,0.057,2381,547,3398,0,0,0,0,0,0
$GC,809,-0.74,-146.0,109.0,-13.6,121,814,0.12,2.12,0.00,0.000,6,0.168,0.034,2403,1964,3399,0,0,0,0,0,0
$GC,1142,-0.74,-146.0,147.4,-10.3,152,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1964,3399,0,0,0,0,0,0
$GC,1460,-0.74,-146.0,174.1,-6.6,182,1464,0.00,2.28,0.00,0.000,4,0.000,0.053,2404,537,3400,0,0,0,0,0,0
$GC,1708,-0.74,-146.0,196.4,-9.1,204,1712,0.00,2.17,0.00,0.000,6,0.000,0.033,2396,1966,3400,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,224.1,-7.4,221,2029,0.00,2.22,0.00,0.000,4,0.000,0.056,2385,3366,3401,0,0,0,0,0,0
$GC,2111,-0.74,-146.0,230.7,-7.5,225,2115,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1954,3401,0,0,0,0,0,0
$GC,2441,-0.74,-146.0,256.4,-7.6,241,2445,0.00,2.20,0.00,0.000,4,0.000,0.052,2385,544,3400,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,261.4,-8.9,243,2502,0.00,2.15,0.00,0.000,6,0.000,0.033,2376,1961,3401,0,0,0,0,0,0
$GC,2815,-0.74,-146.0,289.8,-9.1,259,2822,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,547,3400,0,0,0,0,0,0
$GC,2973,-0.74,-146.0,301.9,-7.1,265,2978,0.12,2.15,0.00,0.000,6,0.161,0.035,2398,1958,3400,0,0,0,0,0,0
$GC,3321,-0.74,-146.0,322.2,-6.3,274,3324,0.00,2.22,0.00,0.000,4,0.000,0.056,2390,3354,3400,0,0,0,0,0,0
$GC,3496,-0.74,-146.0,335.8,-8.4,278,3500,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1953,3400,0,0,0,0,0,0
$GC,3824,-0.74,-146.0,360.2,-7.4,286,3828,0.00,2.25,0.00,0.000,4,0.000,0.056,2390,542,3398,0,0,0,0,0,0
$GC,3976,-0.74,-146.0,373.6,-8.7,289,3980,0.00,2.17,0.00,0.000,6,0.000,0.036,2380,1960,3397,0,0,0,0,0,0
$GC,4321,-0.74,-146.0,400.2,-7.6,298,4325,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,545,3395,0,0,0,0,0,0
$GC,4439,-0.74,-146.0,409.6,-8.0,300,4445,0.12,2.17,0.00,0.000,6,0.166,0.038,2402,1959,3394,0,0,0,0,0,0
$GC,4779,-0.74,-146.0,431.5,-6.4,309,4783,0.00,2.28,0.00,0.000,4,0.000,0.057,2403,550,3392,0,0,0,0,0,0
$GC,4869,-0.74,-146.0,439.0,-7.9,311,4874,0.00,2.20,0.00,0.000,6,0.000,0.040,2395,1965,3392,0,0,0,0,0,0
$STATE,5064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5064,begin apogee
$GC,5071,-0.17,0.0,451.7,6.3,316,5196,0.60,0.00,121.70,0.752,6,0.118,0.000,2586,1966,2800,0,0,0,0,0,0
$STATE,5196,end apogee,CONTROL_FINISHED_OK
$STATE,5196,begin climb
$GC,5199,0.74,146.0,452.0,0.0,319,5338,0.82,2.40,126.75,0.729,4,0.079,0.056,2872,3388,2202,0,0,0,0,0,0
$GC,5388,0.74,146.0,432.8,13.0,323,5392,0.00,2.30,0.00,0.000,6,0.000,0.044,2881,1976,2199,0,0,0,0,0,0
$GC,5730,0.74,146.0,390.5,12.2,332,5735,0.00,2.28,0.00,0.000,4,0.000,0.062,2891,569,2196,0,0,0,0,0,0
$GC,5775,0.74,146.0,384.7,11.9,333,5779,0.00,2.22,0.00,0.000,6,0.000,0.039,2891,1988,2195,0,0,0,0,0,0
$GC,6093,0.74,146.0,346.4,11.7,341,6097,0.00,2.25,0.00,0.000,4,0.000,0.061,2891,3392,2194,0,0,0,0,0,0
$GC,6167,0.74,146.0,336.1,14.9,342,6171,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,1970,2193,0,0,0,0,0,0
$GC,6479,0.74,146.0,289.5,14.6,351,6483,0.00,2.25,0.00,0.000,4,0.000,0.061,2911,567,2191,0,0,0,0,0,0
$GC,6506,0.74,146.0,285.4,15.2,352,6511,0.12,2.22,0.00,0.000,6,0.145,0.041,2878,1990,2191,0,0,0,0,0,0
$GC,6827,0.74,146.0,246.6,10.7,368,6831,0.00,2.20,0.00,0.000,4,0.000,0.053,2878,3389,2191,0,0,0,0,0,0
$GC,6957,0.74,150.2,234.7,8.9,374,6961,0.00,2.20,0.00,0.000,6,0.000,0.042,2885,1974,2190,0,0,0,0,0,0
$GC,7285,0.74,150.2,205.0,10.6,390,7289,0.00,2.22,0.00,0.000,4,0.000,0.059,2895,570,2190,0,0,0,0,0,0
$GC,7319,0.74,150.2,201.4,10.3,391,7325,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1989,2189,0,0,0,0,0,0
$GC,7646,0.74,150.2,164.8,12.4,421,7650,0.00,2.20,0.00,0.000,4,0.000,0.052,2895,3387,2189,0,0,0,0,0,0
$GC,7787,0.74,150.2,148.4,12.2,433,7791,0.00,2.20,0.00,0.000,6,0.000,0.040,2905,1972,2189,0,0,0,0,0,0
$GC,8113,0.74,150.2,111.1,11.1,463,8117,0.00,2.30,0.00,0.000,4,0.000,0.059,2905,3389,2189,0,0,0,0,0,0
$GC,8166,0.74,150.2,105.3,11.3,467,8171,0.12,2.25,0.00,0.000,6,0.143,0.048,2878,1979,2189,0,0,0,0,0,0
$GC,8494,0.82,210.6,81.6,6.5,497,8553,0.00,2.28,52.50,0.512,4,0.000,0.061,2886,570,1940,0,0,0,0,0,0
$GC,8615,0.82,214.4,71.6,8.9,516,8628,0.00,2.22,4.78,0.371,6,0.000,0.038,2887,1973,1924,0,0,0,0,0,0
$GC,8955,0.92,295.2,46.2,5.7,578,9032,0.15,2.30,69.15,0.472,4,0.064,0.058,2987,3386,1594,0,0,0,0,0,0
$GC,9096,0.92,295.2,28.3,14.0,602,9104,0.17,2.30,0.00,0.000,6,0.110,0.048,2939,1987,1593,0,0,0,0,0,0
$GC,9267,0.92,295.2,9.3,10.6,633,9274,0.00,2.33,0.00,0.000,4,0.000,0.059,2948,567,1593,0,0,0,0,0,0
$GC,9292,0.92,295.2,6.0,11.2,637,9300,0.00,2.22,0.00,0.000,6,0.000,0.036,2948,1975,1593,0,0,0,0,0,0
$STATE,9322,end climb,SURFACE_DEPTH_REACHED
$STATE,9322,begin surface coast
$FINISH,0.6,1.023380
$STATE,9349,end surface coast,CONTROL_FINISHED_OK
$STATE,9349,begin surface
$SM_CCo,9367,3.08,0.252,0,0,1576,300.24
$SM_GC,2.17,0.00,0.00,3.08,0.000,0.000,0.252,50,1977,1576,-8.10,0.57,300.24
$IRIDIUM_FIX,2052.52,-15747.49,140902,060628
$TT8_MAMPS,0.027612
$HUMID,66.85
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.5,44.027
$10V_AH,10.4,47.885
$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,19.350,93.850,374.875,3.075,0.000,27.352,36.961,155.311,19.000,0.000,16.745,1199.592,5426.512,398.046,2190.956,508.417,0.000,1222.814,0.000,2153.368,0.000,121.787,0.000
$DEVICE_MAMPS,224.731,62.127,751.660,252.343,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,437.930,380.345,1245.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34981,647
$CAP_FILE_SIZE,106702,0
$CFSIZE,260165632,230117376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,114607,2058.654,-15751.232,31,0.9,31,9.8