version: 66.06
glider: 523
mission: 4
dive: 400
start: 6 6 113 10 26 46
data:
$ID,523
$MISSION,4
$DIVE,400
$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,-43882.875
$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,23
$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,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
$GPS1,101637,2106.092,-15748.513,21,0.8,22,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.5
$GPS2,102628,2106.083,-15748.648,38,0.9,38,9.8
$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,83.1,9914,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.93,0.000,2,0.000,0.000,49,1964,3364,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-3.8,12,114,9.65,2.28,-0.68,0.000,4,0.236,0.063,2380,3362,3397,0,0,0,0,0,0
$GC,139,-0.74,-146.0,14.8,-27.7,18,147,0.00,2.28,0.00,0.000,6,0.000,0.045,2380,1958,3399,0,0,0,0,0,0
$GC,312,-0.74,-146.0,48.2,-20.4,49,317,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,534,3399,0,0,0,0,0,0
$GC,369,-0.74,-146.0,59.9,-19.8,59,375,0.12,2.17,0.00,0.000,6,0.183,0.037,2400,1961,3400,0,0,0,0,0,0
$GC,705,-0.74,-146.0,108.6,-12.4,101,709,0.00,2.20,0.00,0.000,4,0.000,0.054,2392,3362,3401,0,0,0,0,0,0
$GC,836,-0.74,-146.0,124.3,-12.4,112,840,0.00,2.22,0.00,0.000,6,0.000,0.043,2392,1953,3401,0,0,0,0,0,0
$GC,1168,-0.74,-146.0,161.5,-10.5,143,1172,0.00,2.20,0.00,0.000,4,0.000,0.055,2392,545,3402,0,0,0,0,0,0
$GC,1187,-0.74,-146.0,163.4,-10.5,144,1191,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1963,3402,0,0,0,0,0,0
$GC,1514,-0.74,-146.0,197.1,-10.5,174,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1963,3402,0,0,0,0,0,0
$GC,1836,-0.74,-146.0,231.4,-11.6,191,1840,0.00,2.20,0.00,0.000,4,0.000,0.053,2372,3355,3402,0,0,0,0,0,0
$GC,1892,-0.74,-146.0,238.3,-11.0,193,1898,0.10,2.20,0.00,0.000,6,0.156,0.042,2397,1944,3402,0,0,0,0,0,0
$GC,2207,-0.74,-146.0,263.9,-6.8,209,2211,0.00,2.20,0.00,0.000,4,0.000,0.054,2398,541,3402,0,0,0,0,0,0
$GC,2315,-0.74,-146.0,271.5,-7.1,214,2319,0.00,2.15,0.00,0.000,6,0.000,0.036,2389,1955,3402,0,0,0,0,0,0
$GC,2641,-0.74,-146.0,298.6,-10.0,230,2645,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,544,3402,0,0,0,0,0,0
$GC,2898,-0.74,-146.0,321.9,-9.1,236,2904,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1966,3402,0,0,0,0,0,0
$GC,3231,-0.74,-146.0,342.9,-5.8,245,3235,0.00,2.28,0.00,0.000,4,0.000,0.056,2380,545,3402,0,0,0,0,0,0
$GC,3429,-0.74,-146.0,358.0,-7.8,249,3434,0.12,2.15,0.00,0.000,6,0.166,0.038,2403,1959,3401,0,0,0,0,0,0
$GC,3776,-0.74,-146.0,386.3,-8.6,258,3780,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,551,3399,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,399.3,-8.9,261,3922,0.00,2.15,0.00,0.000,6,0.000,0.040,2396,1955,3398,0,0,0,0,0,0
$GC,4234,-0.74,-146.0,422.3,-6.8,269,4238,0.00,2.22,0.00,0.000,4,0.000,0.060,2385,3371,3396,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,428.5,-6.1,271,4328,0.00,2.22,0.00,0.000,6,0.000,0.046,2385,1952,3395,0,0,0,0,0,0
$GC,4649,-0.74,-146.0,447.2,-5.6,279,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3393,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4729,begin apogee
$GC,4735,-0.17,0.0,451.9,5.8,281,4858,0.62,0.00,120.07,0.761,6,0.120,0.000,2585,1952,2800,0,0,0,0,0,0
$STATE,4859,end apogee,CONTROL_FINISHED_OK
$STATE,4859,begin climb
$GC,4862,0.74,146.0,451.4,0.0,284,5000,0.82,2.53,125.90,0.734,4,0.076,0.055,2872,3387,2202,0,0,0,0,0,0
$GC,5039,0.74,146.0,430.2,14.8,288,5043,0.00,2.33,0.00,0.000,6,0.000,0.047,2880,1986,2199,0,0,0,0,0,0
$GC,5352,0.74,146.0,384.7,14.6,296,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1986,2196,0,0,0,0,0,0
$GC,5676,0.74,146.0,340.8,13.1,304,5680,0.00,2.30,0.00,0.000,4,0.000,0.062,2890,568,2193,0,0,0,0,0,0
$GC,5761,0.74,146.0,329.5,14.0,306,5765,0.00,2.20,0.00,0.000,6,0.000,0.040,2891,1988,2193,0,0,0,0,0,0
$GC,6092,0.74,146.0,285.5,12.8,316,6096,0.00,2.17,0.00,0.000,4,0.000,0.052,2890,3390,2191,0,0,0,0,0,0
$GC,6119,0.74,146.0,281.9,13.2,317,6123,0.00,2.22,0.00,0.000,6,0.000,0.042,2900,1975,2190,0,0,0,0,0,0
$GC,6435,0.74,146.0,241.3,13.0,332,6439,0.00,2.22,0.00,0.000,4,0.000,0.058,2911,571,2189,0,0,0,0,0,0
$GC,6514,0.74,146.0,230.3,13.6,335,6518,0.12,2.17,0.00,0.000,6,0.142,0.038,2876,1982,2188,0,0,0,0,0,0
$GC,6832,0.75,155.3,197.3,8.6,351,6844,0.00,2.17,6.35,0.518,4,0.000,0.050,2876,3388,2167,0,0,0,0,0,0
$GC,6944,0.75,155.3,186.8,9.5,361,6948,0.00,2.20,0.00,0.000,6,0.000,0.041,2884,1978,2166,0,0,0,0,0,0
$GC,7272,0.75,155.3,159.8,9.7,391,7276,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,572,2164,0,0,0,0,0,0
$GC,7368,0.75,155.3,149.8,10.5,399,7372,0.00,2.15,0.00,0.000,6,0.000,0.037,2894,1991,2164,0,0,0,0,0,0
$GC,7696,0.75,155.3,113.9,9.7,429,7700,0.00,2.22,0.00,0.000,4,0.000,0.051,2895,3392,2164,0,0,0,0,0,0
$GC,7747,0.75,155.3,108.5,10.6,433,7751,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1976,2164,0,0,0,0,0,0
$GC,8072,0.75,155.3,78.0,9.8,464,8079,0.00,2.30,0.00,0.000,4,0.000,0.051,2904,3389,2164,0,0,0,0,0,0
$GC,8096,0.75,155.3,75.3,10.7,468,8104,0.08,2.22,0.00,0.000,6,0.127,0.039,2885,1979,2164,0,0,0,0,0,0
$GC,8432,0.77,176.0,49.8,8.2,529,8456,0.00,2.25,19.23,0.471,4,0.000,0.055,2886,3382,2081,0,0,0,0,0,0
$GC,8537,0.79,188.8,41.9,8.5,547,8554,0.00,2.22,12.15,0.441,6,0.000,0.048,2892,1983,2029,0,0,0,0,0,0
$GC,8878,0.87,256.8,16.8,6.2,610,8944,0.00,2.33,57.30,0.451,4,0.000,0.064,2903,576,1753,0,0,0,0,0,0
$GC,8970,0.87,256.8,8.6,10.4,624,8977,0.00,2.20,0.00,0.000,6,0.000,0.037,2902,1969,1753,0,0,0,0,0,0
$STATE,9024,end climb,SURFACE_DEPTH_REACHED
$STATE,9024,begin surface coast
$FINISH,0.7,1.023086
$STATE,9057,end surface coast,CONTROL_FINISHED_OK
$STATE,9057,begin surface
$SM_CCo,9075,21.12,0.413,0,0,1575,300.24
$SM_GC,1.66,0.00,0.00,21.12,0.000,0.000,0.413,26,1973,1575,-8.17,0.45,300.24
$IRIDIUM_FIX,2104.07,-15805.48,310802,101025
$TT8_MAMPS,0.027612
$HUMID,63.11
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.6,32.821
$10V_AH,10.4,36.080
$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,18.975,89.125,341.000,21.125,0.000,50.311,77.413,240.814,19.500,0.000,41.679,1172.647,5325.971,387.244,2169.729,631.625,0.000,1166.320,0.000,2097.949,0.000,119.199,0.000
$DEVICE_MAMPS,236.236,64.428,760.864,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,433.394,364.153,1276.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34955,640
$CAP_FILE_SIZE,105767,0
$CFSIZE,260165632,236097536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,125922,2105.427,-15748.814,20,0.9,20,9.8