version: 66.06
glider: 523
mission: 4
dive: 353
start: 6 1 113 7 53 52
data:
$ID,523
$MISSION,4
$DIVE,353
$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,-42813.711
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,073705,2108.226,-15747.800,14,1.1,14,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.8
$GPS2,075335,2108.177,-15747.922,14,0.9,14,9.8
$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,107.1,9690,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-68.88,0.000,2,0.000,0.000,25,1973,3377,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.1,-4.4,11,113,9.60,2.33,-2.58,0.000,4,0.229,0.067,2412,550,3498,0,0,0,0,0,0
$GC,180,-0.74,-146.0,25.5,-18.9,26,187,0.00,2.20,0.00,0.000,6,0.000,0.039,2404,1949,3499,0,0,0,0,0,0
$GC,354,-0.74,-146.0,56.4,-17.2,57,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1950,3499,0,0,0,0,0,0
$GC,682,-0.74,-146.0,104.1,-13.4,102,689,0.00,2.25,0.00,0.000,4,0.000,0.051,2404,546,3500,0,0,0,0,0,0
$GC,731,-0.74,-146.0,111.0,-13.8,106,735,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1973,3500,0,0,0,0,0,0
$GC,1059,-0.74,-146.0,150.8,-11.7,136,1063,0.00,2.28,0.00,0.000,4,0.000,0.051,2394,546,3501,0,0,0,0,0,0
$GC,1144,-0.74,-146.0,161.4,-11.7,143,1148,0.12,2.12,0.00,0.000,6,0.162,0.035,2418,1958,3501,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,196.7,-9.2,174,1480,0.00,2.25,0.00,0.000,4,0.000,0.051,2419,535,3501,0,0,0,0,0,0
$GC,1560,-0.74,-146.0,205.1,-9.5,179,1564,0.00,2.17,0.00,0.000,6,0.000,0.035,2410,1964,3501,0,0,0,0,0,0
$GC,1887,-0.74,-146.0,233.3,-8.6,195,1891,0.00,2.28,0.00,0.000,4,0.000,0.051,2411,542,3501,0,0,0,0,0,0
$GC,1976,-0.74,-146.0,242.1,-9.6,199,1980,0.00,2.15,0.00,0.000,6,0.000,0.036,2401,1958,3501,0,0,0,0,0,0
$GC,2300,-0.74,-146.0,266.3,-6.9,215,2304,0.00,2.25,0.00,0.000,4,0.000,0.051,2401,546,3501,0,0,0,0,0,0
$GC,2401,-0.74,-146.0,274.9,-9.1,219,2410,0.12,2.12,0.00,0.000,6,0.158,0.035,2426,1959,3501,0,0,0,0,0,0
$GC,2720,-0.74,-146.0,295.2,-6.3,235,2724,0.00,2.17,0.00,0.000,4,0.000,0.056,2418,3365,3501,0,0,0,0,0,0
$GC,2764,-0.74,-146.0,298.6,-7.4,237,2768,0.00,2.22,0.00,0.000,6,0.000,0.043,2418,1953,3501,0,0,0,0,0,0
$GC,3083,-0.74,-146.0,322.9,-7.8,246,3087,0.00,2.22,0.00,0.000,4,0.000,0.058,2418,544,3498,0,0,0,0,0,0
$GC,3268,-0.74,-146.0,339.7,-9.2,250,3273,0.00,2.15,0.00,0.000,6,0.000,0.036,2408,1965,3498,0,0,0,0,0,0
$GC,3589,-0.74,-146.0,366.9,-8.5,258,3593,0.00,2.28,0.00,0.000,4,0.000,0.058,2409,548,3496,0,0,0,0,0,0
$GC,3674,-0.74,-146.0,374.8,-8.5,259,3682,0.00,2.15,0.00,0.000,6,0.000,0.038,2399,1963,3495,0,0,0,0,0,0
$GC,4006,-0.74,-146.0,401.7,-8.3,268,4010,0.00,2.30,0.00,0.000,4,0.000,0.058,2399,543,3492,0,0,0,0,0,0
$GC,4106,-0.74,-146.0,411.0,-9.3,270,4111,0.12,2.17,0.00,0.000,6,0.159,0.039,2424,1958,3491,0,0,0,0,0,0
$GC,4456,-0.74,-146.0,433.6,-5.9,279,4460,0.00,2.20,0.00,0.000,4,0.000,0.058,2416,3365,3488,0,0,0,0,0,0
$GC,4501,-0.74,-146.0,436.3,-5.4,280,4505,0.00,2.22,0.00,0.000,6,0.000,0.045,2416,1953,3489,0,0,0,0,0,0
$STATE,4778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4784,-0.17,0.0,451.2,5.3,287,4905,0.57,0.00,117.88,0.772,6,0.110,0.000,2603,1953,2899,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4909,0.74,146.0,451.1,0.0,290,5043,0.82,2.40,124.80,0.744,4,0.066,0.054,2897,3384,2304,0,0,0,0,0,0
$GC,5072,0.74,146.0,431.8,17.0,294,5076,0.00,2.30,0.00,0.000,6,0.000,0.048,2906,1985,2301,0,0,0,0,0,0
$GC,5397,0.74,146.0,380.2,15.3,302,5401,0.00,2.30,0.00,0.000,4,0.000,0.061,2916,564,2296,0,0,0,0,0,0
$GC,5452,0.74,146.0,371.9,14.4,303,5456,0.00,2.22,0.00,0.000,6,0.000,0.042,2916,1973,2295,0,0,0,0,0,0
$GC,5800,0.74,146.0,322.9,14.0,312,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1974,2294,0,0,0,0,0,0
$GC,6105,0.74,146.0,280.3,14.3,322,6109,0.00,2.20,0.00,0.000,4,0.000,0.052,2916,3398,2293,0,0,0,0,0,0
$GC,6206,0.74,146.0,264.9,15.5,326,6212,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,1969,2292,0,0,0,0,0,0
$GC,6522,0.74,146.0,219.1,13.5,342,6526,0.00,2.20,0.00,0.000,4,0.000,0.060,2937,566,2291,0,0,0,0,0,0
$GC,6555,0.74,146.0,214.4,14.2,343,6561,0.15,2.20,0.00,0.000,6,0.143,0.038,2894,1993,2290,0,0,0,0,0,0
$GC,6880,0.74,146.0,175.7,11.7,368,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1994,2289,0,0,0,0,0,0
$GC,7209,0.74,146.0,142.8,10.0,399,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1994,2288,0,0,0,0,0,0
$GC,7540,0.76,165.3,111.1,8.2,430,7565,0.00,2.20,14.90,0.535,4,0.000,0.052,2894,3379,2225,0,0,0,0,0,0
$GC,7611,0.76,165.3,104.1,10.8,436,7615,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1970,2224,0,0,0,0,0,0
$GC,7940,0.76,168.5,72.8,8.9,473,7953,0.00,2.28,4.10,0.372,4,0.000,0.050,2902,3389,2212,0,0,0,0,0,0
$GC,8042,0.76,168.5,62.9,9.7,491,8048,0.00,2.17,0.00,0.000,6,0.000,0.038,2912,1971,2211,0,0,0,0,0,0
$GC,8374,0.77,176.9,35.2,8.7,552,8393,0.00,2.30,9.38,0.439,4,0.000,0.056,2912,3390,2176,0,0,0,0,0,0
$GC,8445,0.77,176.9,28.6,10.4,564,8453,0.00,2.25,0.00,0.000,6,0.000,0.046,2922,1981,2175,0,0,0,0,0,0
$GC,8617,0.77,176.9,12.7,9.1,595,8624,0.00,2.28,0.00,0.000,4,0.000,0.056,2932,569,2175,0,0,0,0,0,0
$GC,8695,0.77,176.9,5.4,11.4,609,8703,0.00,2.20,0.00,0.000,6,0.000,0.039,2932,1979,2175,0,0,0,0,0,0
$STATE,8719,end climb,SURFACE_DEPTH_REACHED
$STATE,8719,begin surface coast
$FINISH,0.6,1.010365
$STATE,8746,end surface coast,CONTROL_FINISHED_OK
$STATE,8747,begin surface
$SM_CCo,8765,47.12,0.439,0,0,1736,285.03
$SM_GC,1.67,0.00,0.00,47.12,0.000,0.000,0.439,31,1982,1736,-8.22,0.71,285.03
$IRIDIUM_FIX,2101.76,-15750.89,260802,070735
$TT8_MAMPS,0.028379
$HUMID,64.25
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.6,28.899
$10V_AH,10.4,31.748
$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,18.925,84.575,271.050,47.125,0.000,116.026,236.375,298.243,19.250,0.000,14.917,1133.241,5345.259,404.685,1994.480,923.983,0.000,1109.512,0.000,1946.349,0.000,121.453,0.000
$DEVICE_MAMPS,228.566,66.729,771.602,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.682,349.198,1202.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,34910,618
$CAP_FILE_SIZE,101232,0
$CFSIZE,260165632,238399488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,102225,2107.739,-15747.101,62,0.9,62,9.8