version: 66.06
glider: 523
mission: 4
dive: 352
start: 6 1 113 5 9 41
data:
$ID,523
$MISSION,4
$DIVE,352
$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,-42798.164
$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,22
$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
$GPS1,045934,2108.673,-15748.537,39,0.9,39,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.7
$GPS2,050924,2108.589,-15748.486,16,0.9,16,9.8
$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,108.3,10908,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-69.65,0.000,2,0.000,0.000,25,1947,3390,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.1,-4.1,11,112,9.65,2.33,-2.28,0.000,4,0.229,0.068,2412,550,3499,0,0,0,0,0,0
$GC,358,-0.74,-146.0,55.4,-15.3,59,363,0.00,2.17,0.00,0.000,6,0.000,0.038,2404,1955,3500,0,0,0,0,0,0
$GC,693,-0.74,-146.0,102.0,-12.9,106,697,0.00,2.28,0.00,0.000,4,0.000,0.055,2404,541,3501,0,0,0,0,0,0
$GC,875,-0.74,-146.0,124.5,-11.2,122,882,0.00,2.17,0.00,0.000,6,0.000,0.035,2394,1963,3502,0,0,0,0,0,0
$GC,1209,-0.74,-146.0,163.2,-11.7,153,1213,0.00,2.28,0.00,0.000,4,0.000,0.054,2394,543,3503,0,0,0,0,0,0
$GC,1320,-0.74,-146.0,177.4,-12.9,162,1324,0.12,2.17,0.00,0.000,6,0.161,0.035,2418,1968,3503,0,0,0,0,0,0
$GC,1652,-0.74,-146.0,216.9,-10.6,186,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1968,3503,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,244.8,-8.6,201,1965,0.00,2.35,0.00,0.000,4,0.000,0.054,2418,538,3503,0,0,0,0,0,0
$GC,2080,-0.74,-146.0,255.0,-7.9,206,2085,0.00,2.17,0.00,0.000,6,0.000,0.036,2410,1969,3503,0,0,0,0,0,0
$GC,2409,-0.74,-146.0,280.9,-8.8,222,2413,0.00,2.35,0.00,0.000,4,0.000,0.056,2410,535,3503,0,0,0,0,0,0
$GC,2499,-0.74,-146.0,289.7,-9.7,226,2504,0.00,2.17,0.00,0.000,6,0.000,0.037,2400,1962,3502,0,0,0,0,0,0
$GC,2833,-0.74,-146.0,316.3,-7.3,237,2837,0.00,2.22,0.00,0.000,4,0.000,0.056,2390,3364,3502,0,0,0,0,0,0
$GC,2884,-0.74,-146.0,320.0,-6.6,238,2889,0.12,2.22,0.00,0.000,6,0.146,0.045,2425,1945,3502,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,340.2,-6.9,246,3206,0.00,2.22,0.00,0.000,4,0.000,0.061,2426,548,3502,0,0,0,0,0,0
$GC,3327,-0.74,-146.0,351.0,-8.4,248,3333,0.00,2.17,0.00,0.000,6,0.000,0.038,2418,1963,3501,0,0,0,0,0,0
$GC,3659,-0.74,-146.0,374.9,-6.7,257,3663,0.00,2.30,0.00,0.000,4,0.000,0.058,2418,545,3499,0,0,0,0,0,0
$GC,3789,-0.74,-146.0,383.9,-7.0,259,3794,0.00,2.17,0.00,0.000,6,0.000,0.040,2408,1970,3498,0,0,0,0,0,0
$GC,4121,-0.74,-146.0,407.3,-7.2,268,4125,0.00,2.28,0.00,0.000,4,0.000,0.059,2408,545,3496,0,0,0,0,0,0
$GC,4247,-0.74,-146.0,417.5,-8.5,270,4252,0.00,2.20,0.00,0.000,6,0.000,0.041,2399,1963,3495,0,0,0,0,0,0
$GC,4579,-0.74,-146.0,441.4,-7.0,279,4583,0.00,2.22,0.00,0.000,4,0.000,0.059,2389,3362,3493,0,0,0,0,0,0
$GC,4651,-0.74,-146.0,446.5,-7.3,280,4656,0.12,2.22,0.00,0.000,6,0.148,0.045,2424,1947,3493,0,0,0,0,0,0
$STATE,4738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4738,begin apogee
$GC,4745,-0.17,0.0,451.4,5.6,282,4867,0.55,0.00,118.85,0.770,6,0.110,0.000,2606,1947,2900,0,0,0,0,0,0
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4870,0.74,146.0,451.2,0.0,285,5000,0.80,0.00,125.30,0.743,6,0.067,0.000,2892,1947,2303,0,0,0,0,0,0
$GC,5317,0.74,146.0,388.3,15.1,296,5321,0.00,2.35,0.00,0.000,4,0.000,0.057,2892,3388,2295,0,0,0,0,0,0
$GC,5344,0.74,146.0,383.9,15.4,296,5348,0.00,2.25,0.00,0.000,6,0.000,0.042,2902,1972,2294,0,0,0,0,0,0
$GC,5675,0.74,146.0,336.7,13.7,304,5679,0.00,2.25,0.00,0.000,4,0.000,0.061,2913,570,2293,0,0,0,0,0,0
$GC,5703,0.74,146.0,332.5,14.5,304,5707,0.00,2.20,0.00,0.000,6,0.000,0.043,2913,1982,2293,0,0,0,0,0,0
$GC,6020,0.74,146.0,286.1,12.8,315,6024,0.00,2.20,0.00,0.000,4,0.000,0.053,2913,3386,2292,0,0,0,0,0,0
$GC,6121,0.74,146.0,272.5,13.9,319,6127,0.00,2.22,0.00,0.000,6,0.000,0.044,2922,1977,2291,0,0,0,0,0,0
$GC,6437,0.74,146.0,231.8,12.9,335,6441,0.00,2.20,0.00,0.000,4,0.000,0.057,2933,572,2290,0,0,0,0,0,0
$GC,6509,0.74,146.0,221.8,14.1,338,6513,0.12,2.17,0.00,0.000,6,0.151,0.037,2899,1985,2288,0,0,0,0,0,0
$GC,6832,0.74,146.0,183.6,11.7,359,6836,0.00,2.15,0.00,0.000,4,0.000,0.051,2899,3386,2288,0,0,0,0,0,0
$GC,6938,0.74,146.0,170.4,12.4,368,6942,0.00,2.20,0.00,0.000,6,0.000,0.041,2907,1977,2288,0,0,0,0,0,0
$GC,7265,0.74,146.0,135.0,9.5,398,7269,0.00,2.20,0.00,0.000,4,0.000,0.055,2917,569,2287,0,0,0,0,0,0
$GC,7306,0.74,146.0,130.6,10.4,401,7310,0.00,2.17,0.00,0.000,6,0.000,0.036,2917,1989,2287,0,0,0,0,0,0
$GC,7632,0.74,146.0,96.0,10.3,431,7636,0.00,2.17,0.00,0.000,4,0.000,0.053,2917,3385,2287,0,0,0,0,0,0
$GC,7684,0.74,146.0,90.4,11.4,435,7688,0.00,2.22,0.00,0.000,6,0.000,0.048,2926,1978,2288,0,0,0,0,0,0
$GC,8011,0.75,157.0,60.0,8.6,486,8023,0.00,2.28,7.88,0.443,4,0.000,0.056,2937,572,2258,0,0,0,0,0,0
$GC,8196,0.75,157.0,42.9,9.1,519,8202,0.12,2.15,0.00,0.000,6,0.143,0.036,2902,1991,2257,0,0,0,0,0,0
$GC,8527,0.76,166.3,16.5,8.6,580,8542,0.00,2.17,9.35,0.418,4,0.000,0.049,2901,3386,2223,0,0,0,0,0,0
$GC,8617,0.76,166.3,8.3,9.7,596,8625,0.00,2.22,0.00,0.000,6,0.000,0.044,2908,1982,2222,0,0,0,0,0,0
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,0.5,1.008795
$STATE,8716,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8736,53.83,0.438,0,0,1737,285.03
$SM_GC,1.55,0.00,0.00,53.83,0.000,0.000,0.438,25,1974,1737,-8.24,0.48,285.03
$IRIDIUM_FIX,2104.07,-15745.74,260802,050531
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.6,28.802
$10V_AH,10.4,31.653
$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,18.850,84.500,261.375,53.825,0.000,56.141,72.267,263.990,19.250,0.000,16.605,1141.395,5200.272,386.449,2005.215,646.868,0.000,1074.868,0.000,1958.646,0.000,121.128,0.000
$DEVICE_MAMPS,229.333,68.263,770.068,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.419,354.335,1202.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35006,614
$CAP_FILE_SIZE,100088,0
$CFSIZE,260165632,238448640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,073705,2108.226,-15747.800,14,1.1,14,9.8