version: 66.06
glider: 523
mission: 4
dive: 437
start: 6 10 113 14 46 12
data:
$ID,523
$MISSION,4
$DIVE,437
$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,-44648.488
$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,24
$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
$GPS1,144013,2108.142,-15759.179,32,1.7,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.3
$GPS2,144556,2108.169,-15759.331,20,1.0,20,9.8
$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,88.9,28692,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.62,0.000,6,0.000,0.000,46,1980,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.55,2.30,0.00,0.000,4,0.226,0.048,2396,545,3395,0,0,0,0,0,0
$GC,206,-0.74,-146.0,27.7,-16.5,31,213,0.00,2.22,0.00,0.000,6,0.000,0.037,2388,1962,3397,0,0,0,0,0,0
$GC,377,-0.74,-146.0,53.6,-11.8,62,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1962,3398,0,0,0,0,0,0
$GC,717,-0.74,-146.0,95.8,-14.0,114,721,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,544,3399,0,0,0,0,0,0
$GC,900,-0.74,-146.0,118.0,-11.3,130,904,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1964,3400,0,0,0,0,0,0
$GC,1227,-0.74,-146.0,151.7,-10.8,160,1231,0.00,2.22,0.00,0.000,4,0.000,0.057,2368,3362,3401,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,156.8,-11.5,164,1278,0.12,2.22,0.00,0.000,6,0.153,0.044,2400,1944,3401,0,0,0,0,0,0
$GC,1601,-0.74,-146.0,186.2,-8.5,194,1605,0.00,2.25,0.00,0.000,4,0.000,0.054,2400,538,3402,0,0,0,0,0,0
$GC,1800,-0.74,-146.0,206.3,-10.8,209,1804,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1961,3402,0,0,0,0,0,0
$GC,2121,-0.74,-146.0,238.8,-9.9,225,2125,0.00,2.28,0.00,0.000,4,0.000,0.052,2392,542,3402,0,0,0,0,0,0
$GC,2323,-0.74,-146.0,257.6,-10.4,234,2327,0.00,2.17,0.00,0.000,6,0.000,0.036,2382,1968,3402,0,0,0,0,0,0
$GC,2646,-0.74,-146.0,283.4,-7.8,250,2650,0.00,2.28,0.00,0.000,4,0.000,0.053,2382,547,3401,0,0,0,0,0,0
$GC,2732,-0.74,-146.0,290.3,-8.0,254,2736,0.00,2.17,0.00,0.000,6,0.000,0.037,2373,1965,3401,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,312.7,-7.3,266,3061,0.00,2.33,0.00,0.000,4,0.000,0.055,2373,546,3402,0,0,0,0,0,0
$GC,3159,-0.74,-146.0,322.0,-8.6,268,3163,0.15,2.15,0.00,0.000,6,0.155,0.038,2404,1956,3401,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,344.8,-6.0,277,3513,0.00,2.22,0.00,0.000,4,0.000,0.058,2395,3359,3401,0,0,0,0,0,0
$GC,3767,-0.74,-146.0,360.3,-5.4,282,3771,0.00,2.22,0.00,0.000,6,0.000,0.044,2395,1956,3400,0,0,0,0,0,0
$GC,4100,-0.74,-146.0,380.3,-6.4,290,4104,0.00,2.30,0.00,0.000,4,0.000,0.061,2396,544,3399,0,0,0,0,0,0
$GC,4360,-0.74,-146.0,397.9,-9.2,295,4364,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1958,3397,0,0,0,0,0,0
$GC,4692,-0.74,-146.0,424.9,-7.8,303,4696,0.00,2.25,0.00,0.000,4,0.000,0.060,2376,3365,3395,0,0,0,0,0,0
$GC,4754,-0.74,-146.0,429.7,-8.6,304,4758,0.00,2.25,0.00,0.000,6,0.000,0.044,2376,1947,3395,0,0,0,0,0,0
$STATE,4971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4971,begin apogee
$GC,4978,-0.17,0.0,450.1,9.5,310,5102,0.65,0.00,120.78,0.759,6,0.118,0.000,2584,1947,2800,0,0,0,0,0,0
$STATE,5103,end apogee,CONTROL_FINISHED_OK
$STATE,5103,begin climb
$GC,5106,0.74,146.0,455.2,0.0,313,5243,0.82,2.42,126.22,0.737,4,0.074,0.064,2882,566,2202,0,0,0,0,0,0
$GC,5300,0.74,146.0,427.6,14.0,317,5304,0.00,2.28,0.00,0.000,6,0.000,0.039,2883,1988,2200,0,0,0,0,0,0
$GC,5642,0.74,146.0,378.4,13.7,326,5646,0.00,2.28,0.00,0.000,4,0.000,0.063,2883,3394,2195,0,0,0,0,0,0
$GC,5721,0.74,146.0,367.4,14.2,327,5725,0.00,2.28,0.00,0.000,6,0.000,0.049,2892,1981,2194,0,0,0,0,0,0
$GC,6052,0.74,146.0,317.0,14.8,335,6056,0.00,2.30,0.00,0.000,4,0.000,0.062,2892,3387,2193,0,0,0,0,0,0
$GC,6136,0.74,146.0,305.1,14.3,337,6140,0.00,2.28,0.00,0.000,6,0.000,0.050,2902,1977,2192,0,0,0,0,0,0
$GC,6470,0.74,146.0,262.6,12.1,352,6474,0.00,2.25,0.00,0.000,4,0.000,0.058,2913,559,2191,0,0,0,0,0,0
$GC,6570,0.74,146.0,249.3,14.1,356,6576,0.12,2.22,0.00,0.000,6,0.138,0.038,2878,1993,2190,0,0,0,0,0,0
$GC,6886,0.74,146.0,215.9,9.4,372,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1994,2189,0,0,0,0,0,0
$GC,7201,0.74,146.0,184.4,11.1,393,7205,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3393,2188,0,0,0,0,0,0
$GC,7274,0.74,146.0,176.0,12.2,399,7278,0.00,2.28,0.00,0.000,6,0.000,0.049,2884,1980,2188,0,0,0,0,0,0
$GC,7601,0.74,146.0,143.8,9.1,429,7605,0.00,2.28,0.00,0.000,4,0.000,0.058,2884,3389,2188,0,0,0,0,0,0
$GC,7643,0.74,146.0,139.5,10.1,432,7651,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1983,2188,0,0,0,0,0,0
$GC,7970,0.74,146.0,106.7,9.7,463,7974,0.00,2.22,0.00,0.000,4,0.000,0.058,2893,3385,2188,0,0,0,0,0,0
$GC,8000,0.74,146.0,103.8,9.8,465,8004,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,1975,2187,0,0,0,0,0,0
$GC,8324,0.80,194.8,76.2,7.0,500,8371,0.00,2.25,39.45,0.505,4,0.000,0.058,2909,565,2004,0,0,0,0,0,0
$GC,8402,0.80,194.8,69.9,9.6,513,8407,0.00,2.22,0.00,0.000,6,0.000,0.041,2909,1977,2003,0,0,0,0,0,0
$GC,8733,0.80,194.8,37.8,9.8,574,8740,0.00,2.25,0.00,0.000,4,0.000,0.051,2909,3389,2002,0,0,0,0,0,0
$GC,8876,0.80,194.8,23.0,10.1,600,8883,0.00,2.28,0.00,0.000,6,0.000,0.043,2918,1980,2002,0,0,0,0,0,0
$GC,9043,0.80,194.8,5.1,12.0,631,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1980,2002,0,0,0,0,0,0
$STATE,9061,end climb,SURFACE_DEPTH_REACHED
$STATE,9061,begin surface coast
$FINISH,0.6,1.002914
$STATE,9084,end surface coast,CONTROL_FINISHED_OK
$STATE,9084,begin surface
$SM_CCo,9102,47.25,0.433,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,47.25,0.000,0.000,0.433,50,1976,1575,-8.10,0.54,300.24
$IRIDIUM_FIX,2101.76,-15753.03,040902,121200
$TT8_MAMPS,0.028379
$HUMID,64.17
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,390.0,56.7
$24V_AH,24.5,36.039
$10V_AH,10.4,39.619
$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,18.725,85.400,286.450,47.250,0.000,28.129,31.166,147.132,16.250,0.000,21.030,1175.878,5276.556,387.421,2197.520,451.938,0.000,1170.801,0.000,2145.688,0.000,104.070,0.000
$DEVICE_MAMPS,226.265,64.428,759.330,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,433.197,360.058,1248.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34926,638
$CAP_FILE_SIZE,100013,0
$CFSIZE,260165632,234278912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,171958,2108.256,-15758.912,37,0.7,37,9.8