version: 66.06
glider: 523
mission: 4
dive: 404
start: 6 6 113 21 17 40
data:
$ID,523
$MISSION,4
$DIVE,404
$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,-43963.082
$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,25
$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
$GPS1,210801,2105.602,-15746.827,19,1.1,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.7
$GPS2,211723,2105.528,-15746.874,16,1.2,16,9.8
$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,75.8,6856,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.05,0.000,6,0.000,0.000,44,1975,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.48,2.25,0.00,0.000,4,0.225,0.047,2392,545,3395,0,0,0,0,0,0
$GC,227,-0.74,-146.0,33.2,-18.0,36,235,0.00,2.22,0.00,0.000,6,0.000,0.040,2384,1956,3396,0,0,0,0,0,0
$GC,564,-0.74,-146.0,82.9,-12.0,95,568,0.00,2.25,0.00,0.000,4,0.000,0.052,2383,545,3396,0,0,0,0,0,0
$GC,723,-0.74,-146.0,106.1,-15.3,109,727,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1971,3396,0,0,0,0,0,0
$GC,1055,-0.74,-146.0,153.7,-11.1,140,1059,0.00,2.30,0.00,0.000,4,0.000,0.051,2374,545,3398,0,0,0,0,0,0
$GC,1087,-0.74,-146.0,157.7,-11.6,142,1094,0.10,2.17,0.00,0.000,6,0.140,0.036,2396,1947,3398,0,0,0,0,0,0
$GC,1415,-0.74,-146.0,185.4,-9.0,173,1419,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,543,3398,0,0,0,0,0,0
$GC,1468,-0.74,-146.0,190.0,-8.7,177,1471,0.00,2.15,0.00,0.000,6,0.000,0.036,2389,1961,3399,0,0,0,0,0,0
$GC,1793,-0.74,-146.0,219.4,-10.1,198,1798,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,544,3398,0,0,0,0,0,0
$GC,1973,-0.74,-146.0,239.5,-9.7,206,1977,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1970,3399,0,0,0,0,0,0
$GC,2302,-0.74,-146.0,266.1,-7.0,222,2306,0.00,2.17,0.00,0.000,4,0.000,0.054,2368,3359,3399,0,0,0,0,0,0
$GC,2329,-0.74,-146.0,268.5,-7.3,223,2334,0.12,2.20,0.00,0.000,6,0.150,0.043,2401,1952,3399,0,0,0,0,0,0
$GC,2650,-0.74,-146.0,291.9,-7.6,239,2654,0.00,2.22,0.00,0.000,4,0.000,0.055,2401,547,3399,0,0,0,0,0,0
$GC,2908,-0.74,-146.0,311.7,-7.2,247,2913,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1961,3399,0,0,0,0,0,0
$GC,3240,-0.74,-146.0,333.2,-6.6,256,3244,0.00,2.28,0.00,0.000,4,0.000,0.055,2394,547,3397,0,0,0,0,0,0
$GC,3326,-0.74,-146.0,340.4,-9.0,258,3330,0.00,2.15,0.00,0.000,6,0.000,0.037,2384,1963,3396,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,369.5,-9.4,266,3657,0.00,2.28,0.00,0.000,4,0.000,0.056,2383,541,3395,0,0,0,0,0,0
$GC,3789,-0.74,-146.0,382.0,-9.0,269,3793,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1967,3394,0,0,0,0,0,0
$GC,4116,-0.74,-146.0,404.2,-6.5,277,4120,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,542,3392,0,0,0,0,0,0
$GC,4319,-0.74,-146.0,419.7,-7.3,281,4324,0.15,2.17,0.00,0.000,6,0.156,0.040,2405,1968,3390,0,0,0,0,0,0
$GC,4662,-0.74,-146.0,438.2,-5.5,290,4666,0.00,2.30,0.00,0.000,4,0.000,0.061,2406,544,3388,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4854,-0.17,0.0,450.2,6.0,294,4977,0.55,0.00,118.97,0.762,6,0.121,0.000,2577,1976,2800,0,0,0,0,0,0
$STATE,4977,end apogee,CONTROL_FINISHED_OK
$STATE,4977,begin climb
$GC,4980,0.74,146.0,451.2,0.0,297,5113,0.85,0.00,125.95,0.734,6,0.078,0.000,2871,1976,2204,0,0,0,0,0,0
$GC,5427,0.74,146.0,396.4,13.1,308,5431,0.00,2.25,0.00,0.000,4,0.000,0.053,2871,3390,2197,0,0,0,0,0,0
$GC,5483,0.74,146.0,388.2,14.3,309,5487,0.00,2.25,0.00,0.000,6,0.000,0.042,2880,1980,2195,0,0,0,0,0,0
$GC,5831,0.74,146.0,343.8,12.2,318,5835,0.00,2.28,0.00,0.000,4,0.000,0.059,2890,567,2193,0,0,0,0,0,0
$GC,5864,0.74,146.0,339.8,11.8,318,5869,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1990,2193,0,0,0,0,0,0
$GC,6195,0.74,146.0,296.9,13.2,327,6199,0.00,2.17,0.00,0.000,4,0.000,0.053,2891,3388,2192,0,0,0,0,0,0
$GC,6312,0.74,146.0,280.0,14.4,332,6317,0.00,2.22,0.00,0.000,6,0.000,0.048,2899,1975,2191,0,0,0,0,0,0
$GC,6628,0.74,146.0,236.5,13.7,347,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1975,2190,0,0,0,0,0,0
$GC,6937,0.74,146.0,200.3,11.0,362,6941,0.00,2.22,0.00,0.000,4,0.000,0.058,2910,571,2189,0,0,0,0,0,0
$GC,6989,0.74,146.0,195.3,10.6,366,6994,0.12,2.17,0.00,0.000,6,0.140,0.041,2875,1981,2188,0,0,0,0,0,0
$GC,7316,0.75,153.7,167.6,8.7,396,7329,0.00,2.20,5.22,0.469,4,0.000,0.050,2875,3382,2172,0,0,0,0,0,0
$GC,7398,0.75,153.7,159.9,9.7,403,7402,0.00,2.17,0.00,0.000,6,0.000,0.040,2883,1969,2171,0,0,0,0,0,0
$GC,7725,0.75,153.7,125.3,11.3,433,7729,0.00,2.22,0.00,0.000,4,0.000,0.050,2883,3387,2171,0,0,0,0,0,0
$GC,7777,0.75,153.7,119.4,11.3,437,7781,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1971,2171,0,0,0,0,0,0
$GC,8104,0.75,153.7,84.7,10.8,467,8108,0.00,2.22,0.00,0.000,4,0.000,0.058,2902,575,2171,0,0,0,0,0,0
$GC,8167,0.75,153.7,78.0,10.8,473,8172,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1995,2170,0,0,0,0,0,0
$GC,8500,0.77,174.4,48.0,8.2,534,8524,0.00,2.30,19.10,0.472,4,0.000,0.059,2910,565,2088,0,0,0,0,0,0
$GC,8576,0.80,201.0,42.1,7.9,547,8605,0.00,2.20,23.55,0.468,6,0.000,0.040,2910,1979,1980,0,0,0,0,0,0
$GC,8924,0.80,201.0,12.4,9.6,612,8931,0.00,2.25,0.00,0.000,4,0.000,0.058,2910,3383,1978,0,0,0,0,0,0
$STATE,9014,end climb,SURFACE_DEPTH_REACHED
$STATE,9014,begin surface coast
$FINISH,0.6,1.011080
$STATE,9044,end surface coast,CONTROL_FINISHED_OK
$STATE,9044,begin surface
$SM_CCo,9064,45.00,0.433,0,0,1575,300.24
$SM_GC,1.62,0.00,0.00,45.00,0.000,0.000,0.433,37,1930,1575,-8.14,-0.74,300.24
$IRIDIUM_FIX,2052.52,-15740.20,310802,212103
$TT8_MAMPS,0.028379
$HUMID,64.41
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,33.179
$10V_AH,10.4,36.463
$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,18.650,88.900,292.800,45.000,0.000,53.555,77.437,224.432,19.000,0.000,16.914,1170.247,5328.512,380.871,2169.693,619.840,0.000,1154.331,0.000,2119.993,0.000,123.074,0.000
$DEVICE_MAMPS,225.498,60.593,762.398,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,430.909,362.863,1245.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,34952,634
$CAP_FILE_SIZE,104511,0
$CFSIZE,260165632,235896832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,235105,2105.443,-15745.947,55,0.8,55,9.8