version: 66.06
glider: 523
mission: 4
dive: 403
start: 6 6 113 18 34 30
data:
$ID,523
$MISSION,4
$DIVE,403
$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,-43945.535
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,182104,2105.519,-15747.936,43,0.8,43,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.9
$GPS2,183412,2105.362,-15747.933,20,0.8,20,9.8
$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,74.7,8704,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.78,0.000,2,0.000,0.000,41,1959,3352,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-6.2,12,112,9.50,0.00,-0.93,0.000,6,0.228,0.000,2389,1959,3398,0,0,0,0,0,0
$GC,268,-0.74,-146.0,43.2,-18.7,44,275,0.00,2.30,0.00,0.000,4,0.000,0.053,2390,550,3400,0,0,0,0,0,0
$GC,303,-0.74,-146.0,50.5,-20.6,50,311,0.00,2.20,0.00,0.000,6,0.000,0.035,2381,1959,3400,0,0,0,0,0,0
$GC,635,-0.74,-146.0,99.3,-12.5,97,640,0.00,2.28,0.00,0.000,4,0.000,0.052,2381,544,3400,0,0,0,0,0,0
$GC,890,-0.74,-146.0,128.9,-10.5,120,894,0.00,2.17,0.00,0.000,6,0.000,0.033,2372,1974,3401,0,0,0,0,0,0
$GC,1217,-0.74,-146.0,164.9,-11.7,150,1223,0.12,2.33,0.00,0.000,4,0.160,0.052,2406,534,3401,0,0,0,0,0,0
$GC,1322,-0.74,-146.0,178.1,-12.0,159,1330,0.00,2.20,0.00,0.000,6,0.000,0.035,2397,1958,3401,0,0,0,0,0,0
$GC,1654,-0.74,-146.0,213.5,-8.7,184,1658,0.00,2.22,0.00,0.000,4,0.000,0.055,2386,3363,3401,0,0,0,0,0,0
$GC,1716,-0.74,-146.0,218.4,-7.7,187,1721,0.00,2.22,0.00,0.000,6,0.000,0.042,2387,1951,3401,0,0,0,0,0,0
$GC,2044,-0.74,-146.0,243.9,-7.7,203,2048,0.00,2.20,0.00,0.000,4,0.000,0.053,2387,538,3401,0,0,0,0,0,0
$GC,2302,-0.74,-146.0,265.9,-8.9,214,2307,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1957,3401,0,0,0,0,0,0
$GC,2620,-0.74,-146.0,289.4,-6.6,230,2624,0.00,2.25,0.00,0.000,4,0.000,0.054,2377,543,3401,0,0,0,0,0,0
$GC,2822,-0.74,-146.0,304.3,-6.8,238,2826,0.12,2.15,0.00,0.000,6,0.163,0.035,2401,1958,3401,0,0,0,0,0,0
$GC,3167,-0.74,-146.0,327.0,-7.7,247,3171,0.00,2.20,0.00,0.000,4,0.000,0.057,2392,3358,3400,0,0,0,0,0,0
$GC,3252,-0.74,-146.0,334.5,-8.5,249,3256,0.00,2.20,0.00,0.000,6,0.000,0.041,2392,1952,3400,0,0,0,0,0,0
$GC,3580,-0.74,-146.0,362.6,-8.8,257,3584,0.00,2.22,0.00,0.000,4,0.000,0.058,2392,542,3398,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,375.2,-8.0,260,3736,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1953,3397,0,0,0,0,0,0
$GC,4074,-0.74,-146.0,398.9,-6.9,269,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,3395,0,0,0,0,0,0
$GC,4400,-0.74,-146.0,420.3,-6.5,277,4404,0.00,2.28,0.00,0.000,4,0.000,0.059,2382,541,3392,0,0,0,0,0,0
$GC,4658,-0.74,-146.0,440.8,-8.1,282,4664,0.00,2.17,0.00,0.000,6,0.000,0.040,2373,1958,3390,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4791,-0.17,0.0,450.2,7.4,286,4914,0.68,0.00,119.72,0.762,6,0.123,0.000,2586,1958,2800,0,0,0,0,0,0
$STATE,4915,end apogee,CONTROL_FINISHED_OK
$STATE,4915,begin climb
$GC,4917,0.74,146.0,451.1,0.0,289,5055,0.82,2.45,125.57,0.737,4,0.076,0.058,2872,3386,2203,0,0,0,0,0,0
$GC,5150,0.74,146.0,423.3,14.8,294,5155,0.00,2.33,0.00,0.000,6,0.000,0.049,2882,1980,2198,0,0,0,0,0,0
$GC,5493,0.74,146.0,373.7,14.6,303,5497,0.00,2.30,0.00,0.000,4,0.000,0.059,2892,558,2195,0,0,0,0,0,0
$GC,5533,0.74,146.0,367.9,14.2,304,5537,0.00,2.20,0.00,0.000,6,0.000,0.038,2892,1980,2195,0,0,0,0,0,0
$GC,5857,0.74,146.0,323.5,13.9,312,5861,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3396,2193,0,0,0,0,0,0
$GC,5999,0.74,146.0,302.8,14.3,315,6004,0.00,2.25,0.00,0.000,6,0.000,0.044,2902,1977,2192,0,0,0,0,0,0
$GC,6317,0.74,146.0,261.3,12.6,330,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1977,2191,0,0,0,0,0,0
$GC,6626,0.74,146.0,220.3,11.6,345,6630,0.00,2.22,0.00,0.000,4,0.000,0.060,2913,569,2190,0,0,0,0,0,0
$GC,6660,0.74,146.0,215.8,12.9,346,6666,0.12,2.20,0.00,0.000,6,0.140,0.038,2878,1993,2189,0,0,0,0,0,0
$GC,6984,0.74,146.0,183.8,10.0,369,6988,0.00,2.15,0.00,0.000,4,0.000,0.051,2878,3386,2189,0,0,0,0,0,0
$GC,7047,0.74,146.0,177.6,9.9,374,7051,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,1978,2188,0,0,0,0,0,0
$GC,7373,0.74,146.0,145.2,9.2,404,7377,0.00,2.22,0.00,0.000,4,0.000,0.051,2886,3390,2188,0,0,0,0,0,0
$GC,7415,0.74,146.0,141.3,10.2,407,7419,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1979,2188,0,0,0,0,0,0
$GC,7742,0.74,146.0,107.3,10.9,437,7746,0.00,2.20,0.00,0.000,4,0.000,0.057,2906,572,2188,0,0,0,0,0,0
$GC,7816,0.74,146.0,99.7,10.1,443,7820,0.00,2.15,0.00,0.000,6,0.000,0.037,2906,1985,2188,0,0,0,0,0,0
$GC,8148,0.74,151.9,70.0,8.8,483,8153,0.00,2.20,0.00,0.000,4,0.000,0.051,2906,3390,2188,0,0,0,0,0,0
$GC,8195,0.76,162.6,66.1,8.6,491,8214,0.12,2.17,12.65,0.472,6,0.145,0.040,2880,1973,2137,0,0,0,0,0,0
$GC,8541,0.76,167.6,45.4,8.8,554,8553,0.00,2.22,6.03,0.395,4,0.000,0.058,2889,571,2115,0,0,0,0,0,0
$GC,8584,0.78,183.5,41.8,8.4,561,8608,0.00,2.17,15.00,0.453,6,0.000,0.036,2889,1984,2049,0,0,0,0,0,0
$GC,8932,0.83,218.2,15.1,7.6,625,8972,0.00,2.28,29.65,0.448,4,0.000,0.051,2889,3394,1909,0,0,0,0,0,0
$GC,9055,0.83,218.2,3.6,11.7,646,9063,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1984,1908,0,0,0,0,0,0
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FINISH,0.8,1.023097
$STATE,9097,end surface coast,CONTROL_FINISHED_OK
$STATE,9097,begin surface
$SM_CCo,9114,37.83,0.426,0,0,1575,300.24
$SM_GC,1.59,0.00,0.00,37.83,0.000,0.000,0.426,44,1977,1575,-8.11,0.57,300.24
$IRIDIUM_FIX,2054.83,-15747.49,310802,181805
$TT8_MAMPS,0.028379
$HUMID,63.90
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,24.6,33.094
$10V_AH,10.4,36.367
$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,18.700,84.500,308.625,37.825,0.000,87.535,110.281,315.185,19.750,0.000,20.587,1205.751,5308.852,389.316,2225.841,810.708,0.000,1189.833,0.000,2184.618,0.000,119.186,0.000
$DEVICE_MAMPS,227.799,59.826,762.398,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,443.333,379.122,1278.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,34995,653
$CAP_FILE_SIZE,109914,0
$CFSIZE,260165632,235945984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,210801,2105.602,-15746.827,19,1.1,19,9.8