version: 66.06
glider: 523
mission: 4
dive: 354
start: 6 1 113 10 39 58
data:
$ID,523
$MISSION,4
$DIVE,354
$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,-42834.867
$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,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
$GPS1,102225,2107.739,-15747.101,62,0.9,62,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.7
$GPS2,103942,2107.786,-15747.089,20,1.6,20,9.8
$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,107.1,8080,-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,-69.97,0.000,2,0.000,0.000,31,1983,3431,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.7,-5.9,11,113,9.65,2.38,-1.33,0.000,4,0.231,0.066,2410,547,3497,0,0,0,0,0,0
$GC,172,-0.74,-146.0,25.8,-19.7,25,180,0.00,2.20,0.00,0.000,6,0.000,0.035,2403,1961,3498,0,0,0,0,0,0
$GC,345,-0.74,-146.0,56.6,-16.1,56,352,0.00,2.25,0.00,0.000,4,0.000,0.055,2392,3361,3498,0,0,0,0,0,0
$GC,455,-0.74,-146.0,75.1,-16.2,76,462,0.00,2.25,0.00,0.000,6,0.000,0.043,2392,1954,3499,0,0,0,0,0,0
$GC,791,-0.74,-146.0,122.7,-12.7,110,795,0.12,2.28,0.00,0.000,4,0.168,0.055,2426,537,3499,0,0,0,0,0,0
$GC,931,-0.74,-146.0,138.9,-11.6,122,938,0.00,2.17,0.00,0.000,6,0.000,0.034,2418,1963,3499,0,0,0,0,0,0
$GC,1258,-0.74,-146.0,172.3,-10.9,153,1262,0.00,2.22,0.00,0.000,4,0.000,0.054,2407,3366,3500,0,0,0,0,0,0
$GC,1288,-0.74,-146.0,175.6,-11.0,155,1292,0.00,2.22,0.00,0.000,6,0.000,0.044,2407,1951,3500,0,0,0,0,0,0
$GC,1621,-0.74,-146.0,209.5,-8.9,181,1625,0.00,2.20,0.00,0.000,4,0.000,0.051,2407,537,3500,0,0,0,0,0,0
$GC,1879,-0.74,-146.0,233.3,-8.9,192,1884,0.00,2.12,0.00,0.000,6,0.000,0.034,2397,1961,3500,0,0,0,0,0,0
$GC,2198,-0.74,-146.0,259.8,-8.4,208,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1962,3500,0,0,0,0,0,0
$GC,2506,-0.74,-146.0,288.8,-8.7,223,2510,0.00,2.30,0.00,0.000,4,0.000,0.053,2397,542,3500,0,0,0,0,0,0
$GC,2702,-0.74,-146.0,308.2,-9.6,230,2707,0.12,2.15,0.00,0.000,6,0.157,0.038,2421,1961,3499,0,0,0,0,0,0
$GC,3054,-0.74,-146.0,332.9,-6.9,239,3058,0.00,2.17,0.00,0.000,4,0.000,0.058,2413,3359,3498,0,0,0,0,0,0
$GC,3109,-0.74,-146.0,337.1,-6.7,240,3113,0.00,2.20,0.00,0.000,6,0.000,0.042,2413,1958,3498,0,0,0,0,0,0
$GC,3459,-0.74,-146.0,363.1,-7.6,249,3463,0.00,2.25,0.00,0.000,4,0.000,0.061,2413,543,3495,0,0,0,0,0,0
$GC,3602,-0.74,-146.0,375.1,-9.1,252,3606,0.00,2.15,0.00,0.000,6,0.000,0.040,2403,1955,3494,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,401.0,-8.2,260,3922,0.00,2.30,0.00,0.000,4,0.000,0.058,2404,540,3491,0,0,0,0,0,0
$GC,4103,-0.74,-146.0,415.7,-7.6,264,4107,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1958,3490,0,0,0,0,0,0
$GC,4417,-0.74,-146.0,435.9,-6.3,272,4421,0.00,2.20,0.00,0.000,4,0.000,0.060,2384,3362,3487,0,0,0,0,0,0
$GC,4484,-0.74,-146.0,440.6,-7.0,273,4488,0.12,2.22,0.00,0.000,6,0.153,0.044,2418,1952,3487,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4669,-0.17,0.0,450.9,5.7,278,4790,0.57,0.00,117.53,0.772,6,0.112,0.000,2606,1952,2899,0,0,0,0,0,0
$STATE,4791,end apogee,CONTROL_FINISHED_OK
$STATE,4791,begin climb
$GC,4794,0.74,146.0,451.0,0.0,281,4928,0.80,2.42,124.85,0.743,4,0.067,0.057,2893,3383,2303,0,0,0,0,0,0
$GC,4968,0.74,146.0,429.5,16.1,285,4972,0.00,2.30,0.00,0.000,6,0.000,0.049,2902,1979,2299,0,0,0,0,0,0
$GC,5280,0.74,146.0,380.3,15.7,293,5284,0.00,2.28,0.00,0.000,4,0.000,0.058,2913,569,2295,0,0,0,0,0,0
$GC,5329,0.74,146.0,372.2,16.5,294,5333,0.00,2.17,0.00,0.000,6,0.000,0.038,2913,1979,2293,0,0,0,0,0,0
$GC,5643,0.74,146.0,323.9,15.6,302,5647,0.00,2.22,0.00,0.000,4,0.000,0.053,2913,3395,2292,0,0,0,0,0,0
$GC,5687,0.74,146.0,316.9,16.1,303,5691,0.00,2.25,0.00,0.000,6,0.000,0.049,2922,1981,2292,0,0,0,0,0,0
$GC,6009,0.74,146.0,269.4,13.9,316,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1980,2290,0,0,0,0,0,0
$GC,6318,0.74,146.0,225.1,14.1,331,6322,0.00,2.22,0.00,0.000,4,0.000,0.051,2923,3385,2289,0,0,0,0,0,0
$GC,6357,0.74,146.0,219.6,13.7,333,6362,0.12,2.22,0.00,0.000,6,0.160,0.042,2899,1966,2289,0,0,0,0,0,0
$GC,6679,0.74,146.0,184.7,9.3,355,6683,0.00,2.22,0.00,0.000,4,0.000,0.058,2908,565,2287,0,0,0,0,0,0
$GC,6784,0.74,146.0,174.1,10.1,364,6788,0.00,2.17,0.00,0.000,6,0.000,0.038,2908,1994,2286,0,0,0,0,0,0
$GC,7111,0.74,146.0,139.6,10.7,394,7115,0.00,2.15,0.00,0.000,4,0.000,0.051,2908,3382,2286,0,0,0,0,0,0
$GC,7261,0.74,146.0,122.6,11.8,407,7265,0.00,2.15,0.00,0.000,6,0.000,0.038,2918,1978,2286,0,0,0,0,0,0
$GC,7588,0.74,152.3,89.1,8.8,437,7592,0.00,2.20,0.00,0.000,4,0.000,0.049,2918,3390,2286,0,0,0,0,0,0
$GC,7619,0.74,152.3,86.2,9.9,439,7623,0.00,2.20,0.00,0.000,6,0.000,0.039,2928,1972,2287,0,0,0,0,0,0
$GC,7949,0.74,152.3,52.1,9.9,494,7957,0.00,2.28,0.00,0.000,4,0.000,0.050,2928,3386,2287,0,0,0,0,0,0
$GC,8025,0.74,152.3,44.5,10.4,507,8031,0.12,2.17,0.00,0.000,6,0.152,0.038,2903,1978,2287,0,0,0,0,0,0
$GC,8356,0.77,172.2,19.1,8.2,568,8384,0.00,2.25,19.98,0.452,4,0.000,0.052,2902,3382,2199,0,0,0,0,0,0
$GC,8424,0.77,172.2,13.1,10.3,579,8431,0.00,2.20,0.00,0.000,6,0.000,0.039,2911,1981,2198,0,0,0,0,0,0
$STATE,8525,end climb,SURFACE_DEPTH_REACHED
$STATE,8525,begin surface coast
$FINISH,0.5,1.023039
$STATE,8555,end surface coast,CONTROL_FINISHED_OK
$STATE,8555,begin surface
$SM_CCo,8573,51.22,0.439,0,0,1737,285.03
$SM_GC,1.52,0.00,0.00,51.22,0.000,0.000,0.439,36,1977,1737,-8.20,0.57,285.03
$IRIDIUM_FIX,2106.38,-15814.92,260802,101047
$TT8_MAMPS,0.028379
$HUMID,63.86
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.7,28.999
$10V_AH,10.4,31.845
$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,18.950,84.525,262.350,51.225,0.000,107.077,163.160,408.251,19.250,0.000,20.526,1121.720,5143.338,369.997,2057.705,967.149,0.000,1097.185,0.000,2004.210,0.000,119.189,0.000
$DEVICE_MAMPS,230.867,65.962,772.369,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.867,346.112,1193.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,34939,603
$CAP_FILE_SIZE,107537,0
$CFSIZE,260165632,238342144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,130437,2107.498,-15745.899,15,1.9,15,9.8