version: 66.06
glider: 523
mission: 4
dive: 435
start: 6 10 113 9 13 5
data:
$ID,523
$MISSION,4
$DIVE,435
$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,-44610.082
$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,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
$GPS1,090635,2108.254,-15800.034,13,1.7,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.2
$GPS2,091248,2108.232,-15800.071,16,1.4,16,9.8
$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,88.8,29975,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.45,0.000,2,0.000,0.000,40,1970,3341,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.3,12,121,9.48,2.35,-1.23,0.000,4,0.224,0.065,2391,534,3398,0,0,0,0,0,0
$GC,168,-0.74,-146.0,19.1,-19.1,23,175,0.00,2.25,0.00,0.000,6,0.000,0.038,2383,1968,3399,0,0,0,0,0,0
$GC,340,-0.74,-146.0,47.0,-13.4,54,347,0.00,2.35,0.00,0.000,4,0.000,0.056,2383,551,3399,0,0,0,0,0,0
$GC,438,-0.74,-146.0,59.8,-13.3,71,443,0.00,2.15,0.00,0.000,6,0.000,0.037,2374,1961,3399,0,0,0,0,0,0
$GC,773,-0.74,-146.0,107.3,-13.7,115,777,0.00,2.30,0.00,0.000,4,0.000,0.053,2374,546,3401,0,0,0,0,0,0
$GC,837,-0.74,-146.0,117.0,-15.3,120,842,0.15,2.15,0.00,0.000,6,0.161,0.035,2403,1967,3401,0,0,0,0,0,0
$GC,1170,-0.74,-146.0,155.2,-11.2,151,1174,0.00,2.22,0.00,0.000,4,0.000,0.056,2394,3365,3402,0,0,0,0,0,0
$GC,1220,-0.74,-146.0,160.8,-11.4,155,1224,0.00,2.22,0.00,0.000,6,0.000,0.045,2394,1949,3402,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,194.4,-9.5,185,1552,0.00,2.22,0.00,0.000,4,0.000,0.055,2394,545,3403,0,0,0,0,0,0
$GC,1718,-0.74,-146.0,210.0,-8.4,195,1724,0.00,2.15,0.00,0.000,6,0.000,0.035,2385,1956,3403,0,0,0,0,0,0
$GC,2035,-0.74,-146.0,232.4,-8.5,211,2039,0.00,2.30,0.00,0.000,4,0.000,0.052,2385,544,3402,0,0,0,0,0,0
$GC,2114,-0.74,-146.0,241.2,-11.7,214,2119,0.00,2.15,0.00,0.000,6,0.000,0.036,2375,1961,3402,0,0,0,0,0,0
$GC,2431,-0.74,-146.0,272.9,-10.0,230,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1962,3403,0,0,0,0,0,0
$GC,2740,-0.74,-146.0,295.4,-6.3,245,2744,0.00,2.33,0.00,0.000,4,0.000,0.052,2375,544,3402,0,0,0,0,0,0
$GC,2858,-0.74,-146.0,303.3,-6.9,249,2863,0.12,2.15,0.00,0.000,6,0.162,0.037,2398,1959,3402,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,329.4,-8.8,258,3203,0.00,2.22,0.00,0.000,4,0.000,0.056,2389,3365,3402,0,0,0,0,0,0
$GC,3254,-0.74,-146.0,334.0,-7.8,259,3258,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1957,3402,0,0,0,0,0,0
$GC,3568,-0.74,-146.0,354.1,-6.2,267,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3401,0,0,0,0,0,0
$GC,3893,-0.74,-146.0,376.0,-6.7,275,3897,0.00,2.30,0.00,0.000,4,0.000,0.060,2389,547,3400,0,0,0,0,0,0
$GC,4151,-0.74,-146.0,391.6,-5.2,280,4157,0.00,2.17,0.00,0.000,6,0.000,0.040,2380,1951,3398,0,0,0,0,0,0
$GC,4483,-0.74,-146.0,407.9,-5.1,289,4487,0.00,2.25,0.00,0.000,4,0.000,0.058,2379,548,3396,0,0,0,0,0,0
$GC,4546,-0.74,-146.0,411.7,-5.9,290,4551,0.12,2.20,0.00,0.000,6,0.166,0.041,2402,1963,3396,0,0,0,0,0,0
$GC,4888,-0.74,-146.0,429.4,-5.2,299,4892,0.00,2.33,0.00,0.000,4,0.000,0.060,2402,540,3394,0,0,0,0,0,0
$GC,4978,-0.74,-146.0,434.4,-5.1,301,4982,0.00,2.22,0.00,0.000,6,0.000,0.042,2395,1962,3394,0,0,0,0,0,0
$STATE,5296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5296,begin apogee
$GC,5303,-0.17,0.0,450.3,5.4,309,5426,0.60,0.00,120.53,0.769,6,0.118,0.000,2587,1962,2800,0,0,0,0,0,0
$STATE,5427,end apogee,CONTROL_FINISHED_OK
$STATE,5427,begin climb
$GC,5430,0.74,146.0,451.4,0.0,312,5568,0.85,2.47,126.38,0.742,4,0.076,0.063,2876,3385,2202,0,0,0,0,0,0
$GC,5663,0.74,146.0,425.1,14.3,317,5669,0.00,2.35,0.00,0.000,6,0.000,0.050,2884,1978,2198,0,0,0,0,0,0
$GC,5995,0.74,146.0,377.1,14.8,326,5999,0.00,2.35,0.00,0.000,4,0.000,0.070,2895,557,2195,0,0,0,0,0,0
$GC,6056,0.74,146.0,368.1,14.4,327,6060,0.00,2.28,0.00,0.000,6,0.000,0.043,2895,1990,2195,0,0,0,0,0,0
$GC,6398,0.74,146.0,318.3,14.2,336,6402,0.00,2.25,0.00,0.000,4,0.000,0.066,2895,3386,2193,0,0,0,0,0,0
$GC,6472,0.74,146.0,308.7,13.0,337,6476,0.00,2.28,0.00,0.000,6,0.000,0.051,2905,1978,2192,0,0,0,0,0,0
$GC,6786,0.74,146.0,270.0,12.6,350,6790,0.00,2.33,0.00,0.000,4,0.000,0.069,2915,562,2190,0,0,0,0,0,0
$GC,6813,0.74,146.0,266.5,12.8,351,6818,0.12,2.22,0.00,0.000,6,0.146,0.041,2881,1984,2190,0,0,0,0,0,0
$GC,7129,0.74,146.0,231.1,11.6,366,7133,0.00,2.20,0.00,0.000,4,0.000,0.052,2881,3383,2190,0,0,0,0,0,0
$GC,7156,0.74,146.0,228.0,11.1,367,7160,0.00,2.20,0.00,0.000,6,0.000,0.040,2889,1971,2189,0,0,0,0,0,0
$GC,7475,0.74,146.0,193.8,11.8,384,7479,0.00,2.22,0.00,0.000,4,0.000,0.059,2899,572,2189,0,0,0,0,0,0
$GC,7517,0.74,146.0,188.2,12.0,387,7525,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1973,2188,0,0,0,0,0,0
$GC,7844,0.74,146.0,152.4,10.7,418,7848,0.00,2.20,0.00,0.000,4,0.000,0.051,2899,3386,2188,0,0,0,0,0,0
$GC,7907,0.74,146.0,145.0,11.8,423,7912,0.12,2.22,0.00,0.000,6,0.151,0.041,2874,1976,2187,0,0,0,0,0,0
$GC,8234,0.74,146.0,113.8,9.1,453,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1976,2187,0,0,0,0,0,0
$GC,8555,0.74,147.7,84.1,9.0,483,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1976,2187,0,0,0,0,0,0
$GC,8884,0.78,177.4,58.4,7.8,540,8915,0.00,2.22,25.15,0.486,4,0.000,0.055,2883,572,2074,0,0,0,0,0,0
$GC,8984,0.82,211.1,50.5,7.6,557,9020,0.00,2.20,29.30,0.479,6,0.000,0.037,2883,1992,1938,0,0,0,0,0,0
$GC,9343,0.90,276.4,22.2,6.3,623,9409,0.12,2.25,55.75,0.458,4,0.074,0.052,2974,3380,1670,0,0,0,0,0,0
$STATE,9479,end climb,SURFACE_DEPTH_REACHED
$STATE,9479,begin surface coast
$FINISH,0.7,1.023273
$STATE,9497,end surface coast,CONTROL_FINISHED_OK
$STATE,9497,begin surface
$SM_CCo,9518,12.77,0.406,0,0,1574,300.24
$SM_GC,1.37,0.00,0.00,12.77,0.000,0.000,0.406,55,1944,1574,-8.08,-0.37,300.24
$IRIDIUM_FIX,2101.76,-15756.04,040902,060651
$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.5,35.877
$10V_AH,10.4,39.429
$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,19.225,89.975,357.100,12.775,0.000,28.272,40.448,171.343,19.000,0.000,17.175,1177.107,5735.612,401.053,2098.170,490.658,0.000,1174.514,0.000,2047.029,0.000,119.211,0.000
$DEVICE_MAMPS,223.964,69.797,768.534,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,439.459,353.988,1226.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,34938,649
$CAP_FILE_SIZE,102053,0
$CFSIZE,260165632,234377216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,115304,2108.181,-15759.228,29,0.8,29,9.8