version: 66.06
glider: 523
mission: 4
dive: 348
start: 5 31 113 19 0 11
data:
$ID,523
$MISSION,4
$DIVE,348
$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,285
$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,-42725.602
$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,2660
$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,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,185404,2109.722,-15753.377,26,0.9,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.4
$GPS2,185954,2109.744,-15753.402,15,1.3,15,9.8
$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,102.1,19523,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.88,0.000,2,0.000,0.000,35,1974,3385,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.2,-4.6,11,113,9.73,2.35,-2.38,0.000,4,0.233,0.065,2409,547,3498,0,0,0,0,0,0
$GC,131,-0.74,-146.0,16.5,-31.4,17,139,0.00,2.20,0.00,0.000,6,0.000,0.037,2400,1960,3498,0,0,0,0,0,0
$GC,303,-0.74,-146.0,48.5,-18.6,48,310,0.00,2.30,0.00,0.000,4,0.000,0.053,2400,553,3499,0,0,0,0,0,0
$GC,328,-0.74,-146.0,53.4,-18.2,52,335,0.00,2.20,0.00,0.000,6,0.000,0.038,2391,1963,3499,0,0,0,0,0,0
$GC,665,-0.74,-146.0,103.9,-14.4,99,672,0.12,2.20,0.00,0.000,4,0.173,0.055,2415,3371,3500,0,0,0,0,0,0
$GC,714,-0.74,-146.0,110.4,-12.6,103,718,0.00,2.22,0.00,0.000,6,0.000,0.044,2415,1962,3501,0,0,0,0,0,0
$GC,1041,-0.74,-146.0,152.2,-13.1,133,1045,0.00,2.22,0.00,0.000,4,0.000,0.055,2415,541,3502,0,0,0,0,0,0
$GC,1171,-0.74,-146.0,168.0,-11.3,144,1176,0.00,2.15,0.00,0.000,6,0.000,0.035,2405,1962,3502,0,0,0,0,0,0
$GC,1496,-0.74,-146.0,202.8,-11.2,173,1500,0.00,2.17,0.00,0.000,4,0.000,0.055,2395,3358,3503,0,0,0,0,0,0
$GC,1523,-0.74,-146.0,205.8,-10.5,174,1527,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1949,3503,0,0,0,0,0,0
$GC,1839,-0.74,-146.0,238.9,-10.6,189,1843,0.00,2.20,0.00,0.000,4,0.000,0.053,2395,547,3503,0,0,0,0,0,0
$GC,1907,-0.74,-146.0,246.6,-11.5,192,1912,0.12,2.15,0.00,0.000,6,0.160,0.035,2419,1966,3504,0,0,0,0,0,0
$GC,2228,-0.74,-146.0,272.2,-7.2,208,2232,0.00,2.28,0.00,0.000,4,0.000,0.054,2419,543,3503,0,0,0,0,0,0
$GC,2431,-0.74,-146.0,288.9,-7.9,217,2435,0.00,2.12,0.00,0.000,6,0.000,0.035,2411,1957,3503,0,0,0,0,0,0
$GC,2778,-0.74,-146.0,317.2,-7.6,229,2782,0.00,2.25,0.00,0.000,4,0.000,0.055,2411,546,3503,0,0,0,0,0,0
$GC,2812,-0.74,-146.0,320.0,-7.5,229,2817,0.00,2.12,0.00,0.000,6,0.000,0.038,2402,1951,3503,0,0,0,0,0,0
$GC,3144,-0.74,-146.0,345.5,-8.0,238,3148,0.00,2.25,0.00,0.000,4,0.000,0.057,2402,538,3503,0,0,0,0,0,0
$GC,3380,-0.74,-146.0,368.9,-9.8,243,3385,0.10,2.20,0.00,0.000,6,0.170,0.040,2418,1968,3501,0,0,0,0,0,0
$GC,3730,-0.74,-146.0,394.8,-7.3,252,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1968,3500,0,0,0,0,0,0
$GC,4054,-0.74,-146.0,421.2,-8.4,260,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1968,3498,0,0,0,0,0,0
$GC,4378,-0.74,-146.0,448.3,-8.2,268,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1967,3496,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4423,-0.17,0.0,451.6,8.1,269,4544,0.55,0.00,118.80,0.768,6,0.111,0.000,2600,1968,2899,0,0,0,0,0,0
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4548,0.74,146.0,454.0,0.0,272,4683,0.82,2.38,124.68,0.742,4,0.069,0.059,2893,3387,2304,0,0,0,0,0,0
$GC,4728,0.74,146.0,434.1,15.5,276,4732,0.00,2.33,0.00,0.000,6,0.000,0.048,2901,1979,2300,0,0,0,0,0,0
$GC,5076,0.74,146.0,379.8,16.1,285,5080,0.00,2.33,0.00,0.000,4,0.000,0.068,2913,569,2295,0,0,0,0,0,0
$GC,5103,0.74,146.0,375.1,16.7,285,5107,0.00,2.22,0.00,0.000,6,0.000,0.045,2913,1985,2294,0,0,0,0,0,0
$GC,5434,0.74,146.0,324.5,15.3,293,5438,0.00,2.25,0.00,0.000,4,0.000,0.061,2913,3399,2293,0,0,0,0,0,0
$GC,5456,0.74,146.0,321.0,14.8,293,5460,0.00,2.28,0.00,0.000,6,0.000,0.051,2923,1980,2292,0,0,0,0,0,0
$GC,5781,0.74,146.0,274.2,13.8,306,5785,0.00,2.22,0.00,0.000,4,0.000,0.058,2933,565,2291,0,0,0,0,0,0
$GC,5866,0.74,146.0,261.9,15.5,310,5871,0.12,2.20,0.00,0.000,6,0.153,0.038,2900,1988,2290,0,0,0,0,0,0
$GC,6193,0.74,146.0,218.6,13.5,326,6197,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3386,2289,0,0,0,0,0,0
$GC,6248,0.74,146.0,211.1,13.5,328,6254,0.00,2.20,0.00,0.000,6,0.000,0.042,2907,1967,2289,0,0,0,0,0,0
$GC,6574,0.74,146.0,176.7,9.4,354,6578,0.00,2.25,0.00,0.000,4,0.000,0.051,2907,3390,2288,0,0,0,0,0,0
$GC,6625,0.74,146.0,170.7,12.0,358,6629,0.00,2.20,0.00,0.000,6,0.000,0.041,2916,1978,2288,0,0,0,0,0,0
$GC,6952,0.74,146.0,135.5,10.8,388,6956,0.00,2.20,0.00,0.000,4,0.000,0.056,2927,565,2287,0,0,0,0,0,0
$GC,7068,0.74,146.0,121.7,10.7,398,7072,0.00,2.17,0.00,0.000,6,0.000,0.038,2927,1985,2286,0,0,0,0,0,0
$GC,7395,0.74,146.0,86.9,9.4,428,7398,0.00,2.15,0.00,0.000,4,0.000,0.051,2927,3387,2287,0,0,0,0,0,0
$GC,7427,0.74,146.0,83.2,10.5,430,7435,0.10,2.20,0.00,0.000,6,0.132,0.039,2903,1982,2288,0,0,0,0,0,0
$GC,7758,0.76,166.3,55.7,8.2,488,7777,0.00,0.00,15.70,0.474,6,0.000,0.000,2903,1982,2220,0,0,0,0,0,0
$GC,8105,0.79,190.1,30.2,8.0,551,8132,0.00,2.33,21.35,0.453,4,0.000,0.058,2903,3389,2124,0,0,0,0,0,0
$GC,8188,0.79,190.1,22.8,10.0,565,8195,0.00,2.25,0.00,0.000,6,0.000,0.046,2910,1982,2122,0,0,0,0,0,0
$GC,8356,0.79,190.1,7.1,9.3,596,8363,0.00,2.28,0.00,0.000,4,0.000,0.061,2920,571,2122,0,0,0,0,0,0
$STATE,8402,end climb,SURFACE_DEPTH_REACHED
$STATE,8402,begin surface coast
$FINISH,0.9,1.022995
$STATE,8424,end surface coast,CONTROL_FINISHED_OK
$STATE,8424,begin surface
$SM_CCo,8444,41.33,0.430,0,0,1737,285.03
$SM_GC,1.57,0.00,0.00,41.33,0.000,0.000,0.430,27,1962,1737,-8.23,0.14,285.03
$IRIDIUM_FIX,2059.45,-15750.89,250802,161624
$TT8_MAMPS,0.026845
$HUMID,62.60
$INTERNAL_PRESSURE,9.43121
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.6,28.483
$10V_AH,10.5,31.291
$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,18.950,84.575,280.525,41.325,0.000,31.585,39.085,151.849,19.250,0.000,15.637,1114.494,4926.756,373.727,1961.158,460.525,0.000,1069.893,0.000,1914.232,0.000,119.524,0.000
$DEVICE_MAMPS,233.168,68.263,767.767,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.737,339.196,1186.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34916,608
$CAP_FILE_SIZE,95534,0
$CFSIZE,260165632,238645248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,212232,2109.554,-15752.633,16,1.5,16,9.8