version: 66.06
glider: 523
mission: 4
dive: 396
start: 6 5 113 23 41 18
data:
$ID,523
$MISSION,4
$DIVE,396
$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,300
$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,-43777.438
$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,2640
$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,57
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,233430,2106.918,-15750.420,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.7
$GPS2,234059,2106.927,-15750.489,16,0.9,16,9.8
$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,89.2,13244,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.05,0.000,2,0.000,0.000,24,1902,3380,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-4.3,12,113,9.57,2.10,-0.30,0.000,4,0.227,0.062,2393,576,3395,0,0,0,0,0,0
$GC,241,-0.74,-146.0,37.1,-19.0,38,248,0.00,2.15,0.00,0.000,6,0.000,0.036,2385,1953,3398,0,0,0,0,0,0
$GC,581,-0.74,-146.0,92.6,-14.3,92,585,0.00,2.20,0.00,0.000,4,0.000,0.054,2375,3372,3399,0,0,0,0,0,0
$GC,774,-0.74,-146.0,120.2,-12.6,109,778,0.00,2.17,0.00,0.000,6,0.000,0.043,2375,1983,3399,0,0,0,0,0,0
$GC,1107,-0.74,-146.0,158.2,-11.1,140,1111,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,537,3401,0,0,0,0,0,0
$GC,1170,-0.74,-146.0,165.9,-12.3,145,1175,0.12,2.15,0.00,0.000,6,0.172,0.035,2397,1963,3401,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,197.3,-8.8,176,1507,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,547,3401,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,201.9,-9.4,179,1551,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1963,3401,0,0,0,0,0,0
$GC,1868,-0.74,-146.0,232.5,-9.0,195,1872,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3358,3402,0,0,0,0,0,0
$GC,1903,-0.74,-146.0,235.4,-7.8,196,1908,0.00,2.17,0.00,0.000,6,0.000,0.042,2379,1948,3401,0,0,0,0,0,0
$GC,2220,-0.74,-146.0,263.5,-9.2,212,2224,0.00,2.22,0.00,0.000,4,0.000,0.050,2369,3361,3401,0,0,0,0,0,0
$GC,2247,-0.74,-146.0,266.3,-9.2,213,2252,0.12,2.17,0.00,0.000,6,0.148,0.042,2402,1952,3402,0,0,0,0,0,0
$GC,2562,-0.74,-146.0,288.7,-6.1,228,2566,0.00,2.20,0.00,0.000,4,0.000,0.055,2403,550,3401,0,0,0,0,0,0
$GC,2744,-0.74,-146.0,300.2,-6.5,236,2748,0.00,2.15,0.00,0.000,6,0.000,0.036,2394,1962,3401,0,0,0,0,0,0
$GC,3068,-0.74,-146.0,318.6,-6.0,244,3073,0.00,2.28,0.00,0.000,4,0.000,0.055,2394,541,3401,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,327.6,-7.6,246,3192,0.00,2.17,0.00,0.000,6,0.000,0.036,2384,1965,3401,0,0,0,0,0,0
$GC,3527,-0.74,-146.0,352.0,-7.5,255,3531,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,544,3399,0,0,0,0,0,0
$GC,3717,-0.74,-146.0,369.0,-9.7,259,3721,0.00,2.17,0.00,0.000,6,0.000,0.038,2376,1961,3398,0,0,0,0,0,0
$GC,4068,-0.74,-146.0,397.7,-8.5,268,4072,0.00,2.28,0.00,0.000,4,0.000,0.057,2375,548,3396,0,0,0,0,0,0
$GC,4219,-0.74,-146.0,411.4,-8.8,271,4224,0.12,2.17,0.00,0.000,6,0.164,0.040,2397,1956,3395,0,0,0,0,0,0
$GC,4564,-0.74,-146.0,436.5,-7.0,280,4568,0.00,2.25,0.00,0.000,4,0.000,0.059,2389,3362,3392,0,0,0,0,0,0
$GC,4659,-0.74,-146.0,442.7,-6.4,282,4663,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,1951,3392,0,0,0,0,0,0
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4814,-0.17,0.0,452.3,6.5,286,4937,0.60,0.00,119.88,0.763,6,0.118,0.000,2582,1951,2800,0,0,0,0,0,0
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4940,0.74,146.0,453.0,0.0,289,5078,0.85,2.47,125.90,0.737,4,0.087,0.056,2872,3386,2202,0,0,0,0,0,0
$GC,5134,0.74,146.0,429.7,15.4,293,5138,0.00,2.30,0.00,0.000,6,0.000,0.048,2880,1978,2198,0,0,0,0,0,0
$GC,5477,0.74,146.0,382.2,13.8,302,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1978,2196,0,0,0,0,0,0
$GC,5802,0.74,146.0,341.1,12.4,310,5806,0.00,2.28,0.00,0.000,4,0.000,0.060,2880,3380,2193,0,0,0,0,0,0
$GC,5834,0.74,146.0,336.7,12.9,310,5840,0.00,2.28,0.00,0.000,6,0.000,0.051,2890,1970,2193,0,0,0,0,0,0
$GC,6146,0.74,146.0,293.5,14.2,319,6150,0.00,2.25,0.00,0.000,4,0.000,0.061,2900,561,2191,0,0,0,0,0,0
$GC,6232,0.74,146.0,281.3,14.3,323,6236,0.00,2.20,0.00,0.000,6,0.000,0.038,2901,1980,2190,0,0,0,0,0,0
$GC,6559,0.74,146.0,237.4,12.1,339,6563,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3387,2190,0,0,0,0,0,0
$GC,6681,0.74,146.0,221.5,13.0,344,6688,0.12,2.22,0.00,0.000,6,0.158,0.042,2876,1965,2188,0,0,0,0,0,0
$GC,7005,0.74,146.0,187.1,10.3,365,7009,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3390,2188,0,0,0,0,0,0
$GC,7047,0.74,146.0,182.1,10.8,368,7055,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1975,2187,0,0,0,0,0,0
$GC,7375,0.74,146.9,150.5,9.0,399,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1976,2187,0,0,0,0,0,0
$GC,7695,0.74,146.9,120.2,9.6,429,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1976,2187,0,0,0,0,0,0
$GC,8026,0.74,146.9,86.1,9.9,460,8030,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,563,2188,0,0,0,0,0,0
$GC,8067,0.74,146.9,81.7,9.8,463,8071,0.00,2.15,0.00,0.000,6,0.000,0.037,2894,1980,2187,0,0,0,0,0,0
$GC,8399,0.81,207.6,54.7,6.5,522,8457,0.00,2.25,49.83,0.492,4,0.000,0.050,2894,3383,1951,0,0,0,0,0,0
$GC,8562,0.86,243.6,44.0,7.5,551,8599,0.00,2.20,31.12,0.469,6,0.000,0.038,2903,1979,1805,0,0,0,0,0,0
$GC,8923,0.86,247.5,12.5,8.9,617,8938,0.00,2.30,4.50,0.334,4,0.000,0.057,2911,569,1790,0,0,0,0,0,0
$GC,8967,0.86,247.5,7.9,9.7,624,8974,0.00,2.20,0.00,0.000,6,0.000,0.037,2911,1974,1790,0,0,0,0,0,0
$STATE,9011,end climb,SURFACE_DEPTH_REACHED
$STATE,9011,begin surface coast
$FINISH,0.6,1.023044
$STATE,9039,end surface coast,CONTROL_FINISHED_OK
$STATE,9039,begin surface
$SM_CCo,9057,25.08,0.425,0,0,1575,300.24
$SM_GC,1.16,0.00,0.00,25.08,0.000,0.000,0.425,54,1984,1575,-8.08,0.74,300.24
$IRIDIUM_FIX,2052.52,-15744.48,300802,212131
$TT8_MAMPS,0.028379
$HUMID,64.21
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.6,32.468
$10V_AH,10.4,35.707
$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,18.775,84.350,331.225,25.075,0.000,31.003,38.223,187.499,19.250,0.000,17.221,1164.050,5285.654,388.148,2120.239,514.247,0.000,1151.574,0.000,2070.084,0.000,121.869,0.000
$DEVICE_MAMPS,227.032,62.127,763.165,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,431.764,355.125,1239.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34886,637
$CAP_FILE_SIZE,100627,0
$CFSIZE,260165632,236294144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,021422,2106.644,-15750.215,62,0.9,62,9.8