version: 66.06
glider: 523
mission: 4
dive: 402
start: 6 6 113 15 49 17
data:
$ID,523
$MISSION,4
$DIVE,402
$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,-43924.32
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,153929,2105.290,-15748.785,38,0.8,38,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.6
$GPS2,154901,2105.260,-15748.805,21,0.8,21,9.8
$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,74.4,10223,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.80,0.000,6,0.000,0.000,41,1963,3395,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-5.4,12,112,9.50,2.20,0.00,0.000,4,0.226,0.045,2383,3364,3396,0,0,0,0,0,0
$GC,142,-0.74,-146.0,16.7,-25.9,19,149,0.00,2.28,0.00,0.000,6,0.000,0.045,2383,1956,3397,0,0,0,0,0,0
$GC,311,-0.74,-146.0,44.7,-17.1,50,318,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,550,3398,0,0,0,0,0,0
$GC,378,-0.74,-146.0,57.6,-18.4,62,386,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1949,3398,0,0,0,0,0,0
$GC,716,-0.74,-146.0,105.4,-10.5,105,720,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,533,3399,0,0,0,0,0,0
$GC,921,-0.74,-146.0,130.5,-13.3,123,929,0.10,2.17,0.00,0.000,6,0.146,0.034,2394,1956,3399,0,0,0,0,0,0
$GC,1248,-0.74,-146.0,167.2,-11.7,154,1252,0.00,2.28,0.00,0.000,4,0.000,0.052,2395,544,3401,0,0,0,0,0,0
$GC,1343,-0.74,-146.0,177.8,-10.1,162,1347,0.00,2.15,0.00,0.000,6,0.000,0.034,2387,1960,3400,0,0,0,0,0,0
$GC,1665,-0.74,-146.0,212.2,-10.7,187,1669,0.00,2.25,0.00,0.000,4,0.000,0.052,2387,544,3401,0,0,0,0,0,0
$GC,1798,-0.74,-146.0,224.9,-9.8,193,1803,0.00,2.12,0.00,0.000,6,0.000,0.035,2377,1959,3401,0,0,0,0,0,0
$GC,2131,-0.74,-146.0,256.3,-8.6,209,2135,0.00,2.20,0.00,0.000,4,0.000,0.054,2367,3359,3401,0,0,0,0,0,0
$GC,2263,-0.74,-146.0,267.0,-8.2,215,2268,0.12,2.20,0.00,0.000,6,0.146,0.042,2400,1945,3401,0,0,0,0,0,0
$GC,2591,-0.74,-146.0,288.4,-6.1,231,2595,0.00,2.20,0.00,0.000,4,0.000,0.058,2400,548,3401,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,296.7,-6.8,237,2732,0.00,2.12,0.00,0.000,6,0.000,0.036,2392,1958,3401,0,0,0,0,0,0
$GC,3068,-0.74,-146.0,322.4,-7.9,247,3072,0.00,2.20,0.00,0.000,4,0.000,0.057,2381,3362,3400,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,330.5,-8.5,249,3168,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1955,3400,0,0,0,0,0,0
$GC,3480,-0.74,-146.0,355.5,-7.7,257,3484,0.00,2.22,0.00,0.000,4,0.000,0.060,2382,544,3398,0,0,0,0,0,0
$GC,3727,-0.74,-146.0,373.2,-7.2,262,3732,0.12,2.15,0.00,0.000,6,0.160,0.038,2405,1958,3397,0,0,0,0,0,0
$GC,4067,-0.74,-146.0,392.0,-5.5,271,4071,0.00,2.25,0.00,0.000,4,0.000,0.060,2406,547,3394,0,0,0,0,0,0
$GC,4326,-0.74,-146.0,410.4,-7.9,276,4331,0.00,2.17,0.00,0.000,6,0.000,0.039,2398,1957,3392,0,0,0,0,0,0
$GC,4658,-0.74,-146.0,435.4,-7.6,285,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3390,0,0,0,0,0,0
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4865,-0.17,0.0,451.3,7.8,290,4987,0.57,0.00,119.43,0.770,6,0.122,0.000,2581,1958,2799,0,0,0,0,0,0
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4988,begin climb
$GC,4991,0.74,146.0,454.5,0.0,293,5128,0.85,2.45,125.78,0.744,4,0.081,0.061,2872,3383,2201,0,0,0,0,0,0
$GC,5230,0.74,146.0,429.8,13.6,298,5234,0.00,2.30,0.00,0.000,6,0.000,0.048,2881,1982,2198,0,0,0,0,0,0
$GC,5566,0.74,146.0,386.8,12.9,307,5570,0.00,2.30,0.00,0.000,4,0.000,0.069,2892,566,2195,0,0,0,0,0,0
$GC,5610,0.74,146.0,380.9,13.6,308,5614,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1981,2194,0,0,0,0,0,0
$GC,5928,0.74,146.0,335.3,14.3,316,5932,0.00,2.25,0.00,0.000,4,0.000,0.064,2892,3388,2193,0,0,0,0,0,0
$GC,5978,0.74,146.0,327.6,15.4,317,5983,0.00,2.28,0.00,0.000,6,0.000,0.049,2902,1970,2192,0,0,0,0,0,0
$GC,6293,0.74,146.0,281.7,14.2,328,6297,0.00,2.30,0.00,0.000,4,0.000,0.062,2902,3385,2191,0,0,0,0,0,0
$GC,6383,0.74,146.0,268.9,14.3,332,6388,0.12,2.25,0.00,0.000,6,0.160,0.052,2877,1982,2190,0,0,0,0,0,0
$GC,6704,0.74,146.0,235.1,10.1,348,6708,0.00,2.25,0.00,0.000,4,0.000,0.061,2885,568,2189,0,0,0,0,0,0
$GC,6727,0.74,146.0,232.5,11.2,349,6731,0.00,2.20,0.00,0.000,6,0.000,0.039,2886,1989,2188,0,0,0,0,0,0
$GC,7045,0.74,146.0,198.7,10.8,365,7049,0.00,2.17,0.00,0.000,4,0.000,0.052,2885,3389,2188,0,0,0,0,0,0
$GC,7091,0.74,146.0,193.5,11.6,369,7096,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1965,2187,0,0,0,0,0,0
$GC,7418,0.74,146.0,158.2,9.8,399,7422,0.00,2.22,0.00,0.000,4,0.000,0.051,2895,3390,2187,0,0,0,0,0,0
$GC,7461,0.74,146.0,153.0,11.3,402,7469,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1977,2187,0,0,0,0,0,0
$GC,7788,0.74,146.0,117.9,11.2,433,7792,0.00,2.22,0.00,0.000,4,0.000,0.058,2915,575,2187,0,0,0,0,0,0
$GC,7873,0.74,146.0,108.1,11.6,440,7877,0.12,2.17,0.00,0.000,6,0.137,0.037,2880,1989,2187,0,0,0,0,0,0
$GC,8200,0.81,208.1,80.4,6.5,470,8255,0.00,2.30,50.00,0.519,4,0.000,0.060,2886,579,1950,0,0,0,0,0,0
$GC,8292,0.83,225.1,73.7,8.3,485,8316,0.00,2.17,15.55,0.481,6,0.000,0.040,2886,1975,1882,0,0,0,0,0,0
$GC,8644,0.94,313.1,41.9,5.4,549,8725,0.15,2.25,74.80,0.476,4,0.067,0.051,2983,3389,1521,0,0,0,0,0,0
$GC,8742,0.94,313.1,28.3,15.3,565,8750,0.15,2.30,0.00,0.000,6,0.120,0.047,2943,1995,1521,0,0,0,0,0,0
$GC,8912,0.94,313.1,3.3,12.6,596,8919,0.00,2.33,0.00,0.000,4,0.000,0.057,2953,565,1520,0,0,0,0,0,0
$STATE,8925,end climb,SURFACE_DEPTH_REACHED
$STATE,8926,begin surface coast
$FINISH,0.7,1.023108
$STATE,8948,end surface coast,CONTROL_FINISHED_OK
$STATE,8948,begin surface
$SM_CCo,9028,0.00,0.000,0,0,1516,314.71
$SM_GC,1.46,7.57,0.00,0.00,0.032,0.000,0.000,41,1956,1516,-8.00,0.00,314.71
$IRIDIUM_FIX,2057.14,-15739.33,310802,151525
$TT8_MAMPS,0.028379
$HUMID,65.51
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,32.999
$10V_AH,10.4,36.267
$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,19.400,93.700,385.550,0.000,0.000,59.838,74.905,231.869,19.000,0.000,21.988,1112.715,5390.843,398.939,2067.517,624.140,0.000,1190.207,0.000,2011.346,0.000,121.781,0.000
$DEVICE_MAMPS,226.265,69.030,770.068,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.404,340.150,1143.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34933,602
$CAP_FILE_SIZE,105391,0
$CFSIZE,260165632,235999232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,182104,2105.519,-15747.936,43,0.8,43,9.8