version: 66.06
glider: 523
mission: 4
dive: 442
start: 6 11 113 4 16 23
data:
$ID,523
$MISSION,4
$DIVE,442
$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,-44754.496
$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,29
$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
$GPS1,041006,2107.727,-15754.889,21,0.8,21,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.3
$GPS2,041606,2107.706,-15754.971,17,1.5,17,9.8
$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,89.7,21118,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.00,0.000,2,0.000,0.000,52,1988,3350,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-3.9,12,121,9.57,2.38,-1.00,0.000,4,0.229,0.066,2391,548,3399,0,0,0,0,0,0
$GC,336,-0.74,-146.0,48.1,-16.8,55,342,0.00,2.20,0.00,0.000,6,0.000,0.037,2383,1970,3400,0,0,0,0,0,0
$GC,670,-0.74,-146.0,95.7,-12.6,105,674,0.00,2.30,0.00,0.000,4,0.000,0.054,2383,544,3401,0,0,0,0,0,0
$GC,723,-0.74,-146.0,103.3,-13.7,109,730,0.00,2.20,0.00,0.000,6,0.000,0.037,2374,1960,3401,0,0,0,0,0,0
$GC,1050,-0.74,-146.0,145.5,-12.8,140,1054,0.00,2.33,0.00,0.000,4,0.000,0.054,2374,549,3403,0,0,0,0,0,0
$GC,1159,-0.74,-146.0,160.6,-15.0,149,1164,0.15,2.15,0.00,0.000,6,0.161,0.035,2404,1965,3403,0,0,0,0,0,0
$GC,1492,-0.74,-146.0,192.3,-8.1,180,1496,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,548,3403,0,0,0,0,0,0
$GC,1674,-0.74,-146.0,211.1,-10.0,191,1679,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1966,3403,0,0,0,0,0,0
$GC,1993,-0.74,-146.0,238.3,-8.8,206,1997,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,544,3403,0,0,0,0,0,0
$GC,2077,-0.74,-146.0,246.8,-10.4,209,2082,0.00,2.17,0.00,0.000,6,0.000,0.036,2386,1967,3403,0,0,0,0,0,0
$GC,2395,-0.74,-146.0,270.7,-8.1,225,2399,0.00,2.20,0.00,0.000,4,0.000,0.057,2376,3360,3403,0,0,0,0,0,0
$GC,2417,-0.74,-146.0,273.2,-9.2,226,2421,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,1954,3403,0,0,0,0,0,0
$GC,2738,-0.74,-146.0,304.7,-9.2,241,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1953,3403,0,0,0,0,0,0
$GC,3063,-0.74,-146.0,327.8,-6.8,249,3067,0.00,2.22,0.00,0.000,4,0.000,0.057,2376,550,3403,0,0,0,0,0,0
$GC,3322,-0.74,-146.0,345.2,-6.8,254,3328,0.12,2.17,0.00,0.000,6,0.162,0.038,2399,1969,3403,0,0,0,0,0,0
$GC,3655,-0.74,-146.0,367.3,-7.5,263,3660,0.00,2.33,0.00,0.000,4,0.000,0.058,2399,549,3402,0,0,0,0,0,0
$GC,3787,-0.74,-146.0,378.8,-8.3,266,3791,0.00,2.17,0.00,0.000,6,0.000,0.040,2391,1959,3402,0,0,0,0,0,0
$GC,4120,-0.74,-146.0,399.3,-6.0,274,4124,0.00,2.25,0.00,0.000,4,0.000,0.060,2380,3363,3400,0,0,0,0,0,0
$GC,4258,-0.74,-146.0,408.9,-6.9,277,4262,0.00,2.22,0.00,0.000,6,0.000,0.044,2380,1956,3400,0,0,0,0,0,0
$GC,4582,-0.74,-146.0,428.2,-5.4,285,4586,0.00,2.30,0.00,0.000,4,0.000,0.062,2380,546,3397,0,0,0,0,0,0
$GC,4841,-0.74,-146.0,445.5,-7.4,290,4847,0.12,2.20,0.00,0.000,6,0.163,0.042,2404,1956,3396,0,0,0,0,0,0
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4933,-0.17,0.0,450.3,5.6,293,5057,0.55,0.00,121.53,0.760,6,0.117,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5061,0.74,146.0,450.8,0.0,296,5199,0.85,2.42,126.40,0.736,4,0.078,0.059,2875,3376,2202,0,0,0,0,0,0
$GC,5283,0.74,146.0,426.2,13.6,301,5288,0.00,2.30,0.00,0.000,6,0.000,0.048,2884,1980,2198,0,0,0,0,0,0
$GC,5597,0.74,146.0,383.4,14.2,309,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2196,0,0,0,0,0,0
$GC,5922,0.74,146.0,338.0,14.2,317,5926,0.00,2.22,0.00,0.000,4,0.000,0.051,2885,3388,2194,0,0,0,0,0,0
$GC,5999,0.74,146.0,326.2,14.7,318,6004,0.00,2.30,0.00,0.000,6,0.000,0.051,2893,1966,2193,0,0,0,0,0,0
$GC,6312,0.74,146.0,280.6,15.1,328,6316,0.00,2.25,0.00,0.000,4,0.000,0.061,2900,569,2191,0,0,0,0,0,0
$GC,6345,0.74,146.0,275.9,13.7,329,6350,0.00,2.20,0.00,0.000,6,0.000,0.042,2900,1982,2191,0,0,0,0,0,0
$GC,6660,0.74,146.0,232.9,12.6,345,6664,0.00,2.20,0.00,0.000,4,0.000,0.052,2900,3387,2190,0,0,0,0,0,0
$GC,6722,0.74,146.0,224.8,13.0,348,6727,0.12,2.22,0.00,0.000,6,0.154,0.041,2877,1969,2190,0,0,0,0,0,0
$GC,7045,0.77,169.8,194.1,8.0,366,7070,0.00,2.20,19.35,0.598,4,0.000,0.054,2885,573,2107,0,0,0,0,0,0
$GC,7138,0.77,169.8,184.8,11.0,374,7142,0.00,2.17,0.00,0.000,6,0.000,0.035,2885,1981,2105,0,0,0,0,0,0
$GC,7465,0.77,169.8,148.2,10.3,404,7469,0.00,2.20,0.00,0.000,4,0.000,0.052,2886,3386,2103,0,0,0,0,0,0
$GC,7540,0.77,169.8,140.1,10.6,410,7547,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1980,2103,0,0,0,0,0,0
$GC,7868,0.77,169.8,105.8,10.4,441,7872,0.00,2.25,0.00,0.000,4,0.000,0.054,2906,568,2103,0,0,0,0,0,0
$GC,7931,0.77,169.8,99.0,11.1,446,7935,0.00,2.15,0.00,0.000,6,0.000,0.035,2906,1983,2102,0,0,0,0,0,0
$GC,8263,0.78,178.5,63.0,8.7,491,8276,0.00,2.17,8.30,0.449,4,0.000,0.050,2905,3384,2071,0,0,0,0,0,0
$GC,8312,0.78,178.5,58.3,9.8,499,8317,0.00,2.20,0.00,0.000,6,0.000,0.040,2915,1974,2071,0,0,0,0,0,0
$GC,8644,0.78,178.5,22.3,10.6,560,8651,0.00,2.25,0.00,0.000,4,0.000,0.055,2926,572,2070,0,0,0,0,0,0
$GC,8762,0.78,178.5,10.2,10.2,582,8768,0.10,2.17,0.00,0.000,6,0.100,0.035,2889,1973,2070,0,0,0,0,0,0
$STATE,8846,end climb,SURFACE_DEPTH_REACHED
$STATE,8846,begin surface coast
$FINISH,0.5,1.023299
$STATE,8891,end surface coast,CONTROL_FINISHED_OK
$STATE,8891,begin surface
$SM_CCo,8909,54.92,0.440,0,0,1575,300.24
$SM_GC,1.55,0.00,0.00,54.92,0.000,0.000,0.440,28,1978,1575,-8.16,0.59,300.24
$IRIDIUM_FIX,2106.38,-15802.47,050902,010145
$TT8_MAMPS,0.028379
$HUMID,65.19
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.5,36.442
$10V_AH,10.4,40.089
$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,18.850,84.875,275.575,54.925,0.000,26.549,34.696,166.003,19.000,0.000,17.931,1138.402,5236.854,390.976,2078.068,479.499,0.000,1132.625,0.000,2026.940,0.000,121.513,0.000
$DEVICE_MAMPS,229.333,65.962,760.097,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.384,352.499,1181.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34963,606
$CAP_FILE_SIZE,99526,0
$CFSIZE,260165632,234033152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,064711,2107.613,-15754.320,44,0.9,44,9.8