version: 66.06
glider: 523
mission: 4
dive: 182
start: 5 14 113 5 31 22
data:
$ID,523
$MISSION,4
$DIVE,182
$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,-39499.594
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,052534,2106.371,-15745.943,29,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.8
$GPS2,053106,2106.340,-15746.016,21,1.0,21,9.8
$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,90.5,5440,-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,-76.30,0.000,2,0.000,0.000,38,1950,3353,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.8,12,112,9.38,0.00,-0.95,0.000,6,0.229,0.000,2390,1947,3397,0,0,0,0,0,0
$GC,271,-0.74,-146.0,38.9,-17.8,44,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1947,3399,0,0,0,0,0,0
$GC,605,-0.74,-146.0,91.1,-14.4,98,609,0.00,2.17,0.00,0.000,4,0.000,0.057,2390,550,3400,0,0,0,0,0,0
$GC,824,-0.74,-146.0,121.6,-14.1,117,831,0.00,2.15,0.00,0.000,6,0.000,0.033,2381,1970,3400,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,158.1,-10.4,148,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1970,3402,0,0,0,0,0,0
$GC,1469,-0.74,-146.0,189.9,-11.0,178,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1970,3403,0,0,0,0,0,0
$GC,1789,-0.74,-146.0,222.1,-9.2,198,1793,0.00,2.25,0.00,0.000,4,0.000,0.050,2382,541,3403,0,0,0,0,0,0
$GC,1822,-0.74,-146.0,225.5,-10.6,199,1827,0.10,2.12,0.00,0.000,6,0.173,0.033,2397,1966,3403,0,0,0,0,0,0
$GC,2146,-0.74,-146.0,250.3,-7.0,215,2150,0.00,2.25,0.00,0.000,4,0.000,0.054,2398,544,3403,0,0,0,0,0,0
$GC,2241,-0.74,-146.0,258.5,-8.8,219,2245,0.00,2.10,0.00,0.000,6,0.000,0.035,2390,1959,3403,0,0,0,0,0,0
$GC,2559,-0.74,-146.0,282.7,-8.4,234,2563,0.00,2.17,0.00,0.000,4,0.000,0.057,2379,3364,3402,0,0,0,0,0,0
$GC,2638,-0.74,-146.0,290.4,-10.4,237,2643,0.00,2.15,0.00,0.000,6,0.000,0.044,2379,1958,3402,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,319.4,-8.7,248,2955,0.00,2.20,0.00,0.000,4,0.000,0.059,2379,548,3402,0,0,0,0,0,0
$GC,3006,-0.74,-146.0,324.2,-8.1,249,3011,0.12,2.15,0.00,0.000,6,0.173,0.039,2402,1963,3402,0,0,0,0,0,0
$GC,3322,-0.74,-146.0,345.7,-6.7,257,3326,0.00,2.17,0.00,0.000,4,0.000,0.058,2394,3364,3401,0,0,0,0,0,0
$GC,3407,-0.74,-146.0,352.0,-7.4,259,3411,0.00,2.20,0.00,0.000,6,0.000,0.043,2393,1952,3401,0,0,0,0,0,0
$GC,3734,-0.74,-146.0,376.5,-7.7,267,3738,0.00,2.20,0.00,0.000,4,0.000,0.063,2393,551,3399,0,0,0,0,0,0
$GC,3801,-0.74,-146.0,382.4,-8.3,268,3806,0.00,2.15,0.00,0.000,6,0.000,0.041,2384,1966,3398,0,0,0,0,0,0
$GC,4139,-0.74,-146.0,408.8,-7.7,277,4143,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,543,3396,0,0,0,0,0,0
$GC,4240,-0.74,-146.0,416.4,-7.5,279,4244,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1963,3395,0,0,0,0,0,0
$GC,4590,-0.74,-146.0,442.9,-7.8,288,4594,0.00,2.20,0.00,0.000,4,0.000,0.058,2364,3379,3393,0,0,0,0,0,0
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4667,begin apogee
$GC,4675,-0.17,0.0,450.4,9.0,289,4801,0.68,0.00,119.05,0.786,6,0.129,0.000,2583,1966,2799,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,0.74,146.0,453.9,0.0,293,4934,0.88,0.00,126.30,0.757,6,0.077,0.000,2880,1966,2204,0,0,0,0,0,0
$GC,5246,0.74,146.0,400.8,14.6,304,5250,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,561,2195,0,0,0,0,0,0
$GC,5291,0.74,146.0,394.3,14.0,305,5295,0.00,2.22,0.00,0.000,6,0.000,0.041,2891,1977,2195,0,0,0,0,0,0
$GC,5609,0.74,146.0,348.0,14.7,313,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1977,2193,0,0,0,0,0,0
$GC,5934,0.74,146.0,298.2,15.0,321,5938,0.00,2.17,0.00,0.000,4,0.000,0.054,2890,3384,2191,0,0,0,0,0,0
$GC,5974,0.74,146.0,292.0,15.7,323,5979,0.00,2.25,0.00,0.000,6,0.000,0.050,2899,1977,2190,0,0,0,0,0,0
$GC,6301,0.74,146.0,244.4,13.2,339,6305,0.00,2.25,0.00,0.000,4,0.000,0.061,2909,561,2189,0,0,0,0,0,0
$GC,6350,0.74,146.0,237.7,13.1,341,6355,0.12,2.20,0.00,0.000,6,0.148,0.044,2876,1978,2188,0,0,0,0,0,0
$GC,6666,0.74,146.0,202.8,9.8,356,6670,0.00,2.30,0.00,0.000,4,0.000,0.064,2884,552,2187,0,0,0,0,0,0
$GC,6719,0.74,146.0,197.6,9.8,359,6724,0.00,2.20,0.00,0.000,6,0.000,0.044,2885,1979,2187,0,0,0,0,0,0
$GC,7052,0.74,146.0,162.6,11.1,390,7056,0.00,2.15,0.00,0.000,4,0.000,0.054,2885,3386,2187,0,0,0,0,0,0
$GC,7104,0.74,146.0,156.6,11.6,394,7108,0.00,2.22,0.00,0.000,6,0.000,0.048,2893,1966,2186,0,0,0,0,0,0
$GC,7430,0.74,146.0,120.5,10.5,424,7434,0.00,2.25,0.00,0.000,4,0.000,0.054,2893,3388,2186,0,0,0,0,0,0
$GC,7450,0.74,146.0,118.4,10.9,425,7454,0.00,2.20,0.00,0.000,6,0.000,0.043,2894,1971,2186,0,0,0,0,0,0
$GC,7778,0.74,146.0,85.4,10.6,455,7782,0.00,2.20,0.00,0.000,4,0.000,0.057,2905,569,2186,0,0,0,0,0,0
$GC,7948,0.74,146.0,66.4,10.8,481,7953,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,1990,2186,0,0,0,0,0,0
$GC,8279,0.74,146.0,31.5,11.0,542,8286,0.00,2.28,0.00,0.000,4,0.000,0.057,2912,573,2187,0,0,0,0,0,0
$GC,8306,0.74,146.0,28.9,10.9,546,8315,0.10,2.15,0.00,0.000,6,0.111,0.039,2876,1959,2187,0,0,0,0,0,0
$GC,8475,0.78,180.5,14.9,7.6,577,8508,0.00,2.22,27.08,0.464,4,0.000,0.048,2876,3390,2063,0,0,0,0,0,0
$GC,8567,0.78,180.5,5.5,10.4,593,8575,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1979,2062,0,0,0,0,0,0
$STATE,8597,end climb,SURFACE_DEPTH_REACHED
$STATE,8597,begin surface coast
$FINISH,0.5,1.023486
$STATE,8631,end surface coast,CONTROL_FINISHED_OK
$STATE,8631,begin surface
$SM_CCo,8648,53.83,0.446,0,0,1574,300.24
$SM_GC,1.35,0.00,0.00,53.83,0.000,0.000,0.446,49,1977,1574,-8.10,0.48,300.24
$IRIDIUM_FIX,2101.76,-15748.75,080802,030308
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.7,15.080
$10V_AH,10.5,16.533
$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,18.625,79.350,272.425,53.825,0.000,23.244,38.730,140.858,19.250,0.000,21.486,1109.242,5143.160,412.838,1927.609,441.986,0.000,1069.981,0.000,1886.337,0.000,119.139,0.000
$DEVICE_MAMPS,229.333,64.428,786.175,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.860,353.264,1193.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34947,604
$CAP_FILE_SIZE,93250,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140513,075718,2106.399,-15744.922,14,2.0,14,9.8