version: 66.06
glider: 523
mission: 4
dive: 351
start: 6 1 113 2 34 39
data:
$ID,523
$MISSION,4
$DIVE,351
$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,-42780.93
$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,26
$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,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
$GPS1,022830,2109.121,-15749.871,19,0.8,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.4
$GPS2,023423,2109.053,-15749.831,18,0.9,18,9.8
$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,106.9,13367,-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,-70.28,0.000,2,0.000,0.000,50,1972,3416,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.6,-5.3,11,113,9.50,2.35,-1.62,0.000,4,0.229,0.067,2407,551,3497,0,0,0,0,0,0
$GC,169,-0.74,-146.0,24.6,-19.4,24,176,0.00,2.20,0.00,0.000,6,0.000,0.039,2399,1952,3499,0,0,0,0,0,0
$GC,342,-0.74,-146.0,57.1,-15.7,55,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1952,3499,0,0,0,0,0,0
$GC,671,-0.74,-146.0,103.8,-11.8,99,675,0.00,2.28,0.00,0.000,4,0.000,0.053,2399,541,3501,0,0,0,0,0,0
$GC,823,-0.74,-146.0,124.1,-12.6,112,831,0.08,2.20,0.00,0.000,6,0.147,0.035,2415,1969,3501,0,0,0,0,0,0
$GC,1150,-0.74,-146.0,156.3,-10.2,143,1154,0.00,2.28,0.00,0.000,4,0.000,0.051,2416,541,3502,0,0,0,0,0,0
$GC,1191,-0.74,-146.0,160.7,-11.5,146,1195,0.00,2.17,0.00,0.000,6,0.000,0.035,2408,1970,3503,0,0,0,0,0,0
$GC,1524,-0.74,-146.0,193.8,-7.9,177,1528,0.00,2.30,0.00,0.000,4,0.000,0.051,2408,548,3503,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,199.4,-8.8,182,1594,0.00,2.15,0.00,0.000,6,0.000,0.035,2398,1964,3503,0,0,0,0,0,0
$GC,1910,-0.74,-146.0,233.1,-10.7,198,1914,0.00,2.17,0.00,0.000,4,0.000,0.055,2388,3356,3503,0,0,0,0,0,0
$GC,2029,-0.74,-146.0,245.7,-9.4,203,2033,0.12,2.20,0.00,0.000,6,0.153,0.045,2422,1947,3503,0,0,0,0,0,0
$GC,2347,-0.74,-146.0,268.8,-7.5,218,2351,0.00,2.22,0.00,0.000,4,0.000,0.056,2422,542,3503,0,0,0,0,0,0
$GC,2545,-0.74,-146.0,285.4,-8.1,226,2551,0.00,2.15,0.00,0.000,6,0.000,0.037,2414,1954,3503,0,0,0,0,0,0
$GC,2861,-0.74,-146.0,306.7,-7.1,240,2865,0.00,2.25,0.00,0.000,4,0.000,0.056,2414,547,3503,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,311.9,-8.4,241,2926,0.00,2.15,0.00,0.000,6,0.000,0.039,2405,1961,3503,0,0,0,0,0,0
$GC,3270,-0.74,-146.0,339.1,-7.8,250,3274,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,541,3502,0,0,0,0,0,0
$GC,3477,-0.74,-146.0,359.0,-9.3,254,3481,0.00,2.17,0.00,0.000,6,0.000,0.040,2395,1963,3500,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,388.2,-8.7,263,3819,0.00,2.30,0.00,0.000,4,0.000,0.060,2396,551,3498,0,0,0,0,0,0
$GC,4046,-0.74,-146.0,409.7,-8.6,268,4051,0.12,2.20,0.00,0.000,6,0.158,0.042,2421,1969,3497,0,0,0,0,0,0
$GC,4373,-0.74,-146.0,432.5,-6.7,276,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1969,3495,0,0,0,0,0,0
$STATE,4652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4652,begin apogee
$GC,4659,-0.17,0.0,450.7,6.5,283,4781,0.55,0.00,118.88,0.771,6,0.114,0.000,2601,1969,2900,0,0,0,0,0,0
$STATE,4782,end apogee,CONTROL_FINISHED_OK
$STATE,4782,begin climb
$GC,4784,0.74,146.0,452.3,0.0,286,4921,0.85,2.42,125.10,0.745,4,0.069,0.062,2898,3380,2304,0,0,0,0,0,0
$GC,4939,0.74,146.0,436.1,15.4,290,4943,0.00,2.33,0.00,0.000,6,0.000,0.049,2907,1984,2301,0,0,0,0,0,0
$GC,5262,0.74,146.0,387.3,14.8,298,5266,0.00,2.33,0.00,0.000,4,0.000,0.071,2918,572,2295,0,0,0,0,0,0
$GC,5302,0.74,146.0,381.3,14.8,299,5307,0.00,2.25,0.00,0.000,6,0.000,0.044,2918,1987,2294,0,0,0,0,0,0
$GC,5627,0.74,146.0,331.8,15.1,307,5631,0.00,2.25,0.00,0.000,4,0.000,0.064,2918,3386,2293,0,0,0,0,0,0
$GC,5705,0.74,146.0,319.4,15.5,308,5711,0.12,2.28,0.00,0.000,6,0.164,0.051,2895,1979,2293,0,0,0,0,0,0
$GC,6018,0.74,146.0,276.2,13.2,320,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1979,2291,0,0,0,0,0,0
$GC,6327,0.74,146.0,237.0,12.7,335,6331,0.00,2.28,0.00,0.000,4,0.000,0.068,2901,563,2290,0,0,0,0,0,0
$GC,6435,0.74,146.0,224.0,11.3,340,6439,0.00,2.22,0.00,0.000,6,0.000,0.043,2901,1991,2289,0,0,0,0,0,0
$GC,6758,0.74,146.0,186.9,12.5,360,6762,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,3384,2288,0,0,0,0,0,0
$GC,6852,0.74,146.0,174.7,12.2,368,6856,0.00,2.20,0.00,0.000,6,0.000,0.041,2911,1974,2288,0,0,0,0,0,0
$GC,7180,0.74,146.0,134.9,12.2,398,7184,0.00,2.22,0.00,0.000,4,0.000,0.058,2922,568,2288,0,0,0,0,0,0
$GC,7221,0.74,146.0,129.3,13.5,401,7225,0.00,2.15,0.00,0.000,6,0.000,0.038,2922,1981,2286,0,0,0,0,0,0
$GC,7548,0.74,146.0,89.6,12.1,431,7552,0.00,2.17,0.00,0.000,4,0.000,0.052,2922,3384,2286,0,0,0,0,0,0
$GC,7649,0.74,146.0,77.4,11.9,441,7655,0.12,2.20,0.00,0.000,6,0.158,0.041,2897,1973,2287,0,0,0,0,0,0
$GC,7981,0.74,146.0,44.0,10.0,502,7988,0.00,2.25,0.00,0.000,4,0.000,0.056,2906,570,2287,0,0,0,0,0,0
$GC,8092,0.75,155.1,34.6,8.7,522,8104,0.00,2.20,6.40,0.409,6,0.000,0.039,2906,1984,2266,0,0,0,0,0,0
$GC,8427,0.83,218.0,11.8,6.4,584,8485,0.00,2.20,52.83,0.461,4,0.000,0.050,2906,3383,2012,0,0,0,0,0,0
$GC,8525,0.83,218.0,3.1,11.3,600,8533,0.00,2.30,0.00,0.000,6,0.000,0.050,2916,1986,2010,0,0,0,0,0,0
$STATE,8538,end climb,SURFACE_DEPTH_REACHED
$STATE,8538,begin surface coast
$FINISH,0.6,1.010549
$STATE,8566,end surface coast,CONTROL_FINISHED_OK
$STATE,8566,begin surface
$SM_CCo,8585,30.98,0.433,0,0,1737,285.03
$SM_GC,1.28,0.00,0.00,30.98,0.000,0.000,0.433,25,1947,1737,-8.24,-0.28,285.03
$IRIDIUM_FIX,2057.14,-15741.46,260802,000046
$TT8_MAMPS,0.028379
$HUMID,65.19
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,28.717
$10V_AH,10.5,31.560
$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,18.825,80.500,303.200,30.975,0.000,24.420,45.136,151.682,19.000,0.000,18.988,1120.417,4961.213,376.651,2049.382,460.172,0.000,1106.716,0.000,2000.750,0.000,121.203,0.000
$DEVICE_MAMPS,228.566,230.867,770.835,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.244,350.521,1202.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34950,607
$CAP_FILE_SIZE,96236,0
$CFSIZE,260165632,238501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,045934,2108.673,-15748.537,39,0.9,39,9.8