version: 66.06
glider: 523
mission: 4
dive: 444
start: 6 11 113 9 35 45
data:
$ID,523
$MISSION,4
$DIVE,444
$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,-44795.25
$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,28
$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
$GPS1,092551,2107.512,-15753.331,19,7.5,38,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.2
$GPS2,093529,2107.545,-15753.403,20,1.0,20,9.8
$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,90.2,18399,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.97,0.000,2,0.000,0.000,48,1979,3352,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.9,12,119,9.52,2.45,-0.98,0.000,4,0.226,0.066,2390,542,3398,0,0,0,0,0,0
$GC,195,-0.74,-146.0,23.4,-18.9,29,202,0.00,2.22,0.00,0.000,6,0.000,0.038,2382,1954,3398,0,0,0,0,0,0
$GC,365,-0.74,-146.0,49.9,-15.8,60,372,0.00,2.25,0.00,0.000,4,0.000,0.055,2372,3354,3399,0,0,0,0,0,0
$GC,451,-0.74,-146.0,62.4,-13.8,75,457,0.12,2.25,0.00,0.000,6,0.154,0.044,2404,1949,3399,0,0,0,0,0,0
$GC,788,-0.74,-146.0,95.8,-10.9,123,792,0.00,2.25,0.00,0.000,4,0.000,0.058,2404,537,3400,0,0,0,0,0,0
$GC,1004,-0.74,-146.0,121.9,-12.3,142,1008,0.00,2.15,0.00,0.000,6,0.000,0.034,2396,1962,3400,0,0,0,0,0,0
$GC,1331,-0.74,-146.0,156.6,-10.8,172,1335,0.00,2.22,0.00,0.000,4,0.000,0.054,2385,3357,3401,0,0,0,0,0,0
$GC,1408,-0.74,-146.0,165.3,-11.2,178,1415,0.00,2.25,0.00,0.000,6,0.000,0.045,2385,1952,3401,0,0,0,0,0,0
$GC,1732,-0.74,-146.0,203.1,-11.8,208,1736,0.00,2.25,0.00,0.000,4,0.000,0.056,2385,537,3402,0,0,0,0,0,0
$GC,1989,-0.74,-146.0,227.3,-8.2,219,1995,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1963,3402,0,0,0,0,0,0
$GC,2308,-0.74,-146.0,251.1,-7.2,235,2312,0.00,2.28,0.00,0.000,4,0.000,0.053,2376,545,3402,0,0,0,0,0,0
$GC,2567,-0.74,-146.0,272.6,-7.1,246,2573,0.12,2.15,0.00,0.000,6,0.160,0.036,2398,1962,3402,0,0,0,0,0,0
$GC,2885,-0.74,-146.0,291.5,-6.9,262,2889,0.00,2.28,0.00,0.000,4,0.000,0.054,2399,548,3401,0,0,0,0,0,0
$GC,3070,-0.74,-146.0,305.4,-7.3,269,3074,0.00,2.15,0.00,0.000,6,0.000,0.037,2391,1956,3401,0,0,0,0,0,0
$GC,3386,-0.74,-146.0,326.8,-7.1,277,3390,0.00,2.30,0.00,0.000,4,0.000,0.056,2391,544,3401,0,0,0,0,0,0
$GC,3632,-0.74,-146.0,347.6,-8.7,282,3636,0.00,2.17,0.00,0.000,6,0.000,0.038,2381,1965,3399,0,0,0,0,0,0
$GC,3977,-0.74,-146.0,376.8,-9.4,291,3981,0.00,2.22,0.00,0.000,4,0.000,0.058,2371,3367,3397,0,0,0,0,0,0
$GC,4064,-0.74,-146.0,385.3,-9.5,293,4068,0.12,2.25,0.00,0.000,6,0.152,0.043,2403,1947,3396,0,0,0,0,0,0
$GC,4392,-0.74,-146.0,411.2,-7.5,301,4396,0.00,2.28,0.00,0.000,4,0.000,0.062,2404,540,3394,0,0,0,0,0,0
$GC,4651,-0.74,-146.0,431.8,-6.7,306,4656,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1955,3392,0,0,0,0,0,0
$STATE,4939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4946,-0.17,0.0,450.9,6.0,314,5070,0.57,0.00,120.85,0.761,6,0.120,0.000,2579,1955,2800,0,0,0,0,0,0
$STATE,5071,end apogee,CONTROL_FINISHED_OK
$STATE,5071,begin climb
$GC,5074,0.74,146.0,450.9,0.0,317,5212,0.85,2.42,126.38,0.735,4,0.079,0.058,2871,3379,2203,0,0,0,0,0,0
$GC,5279,0.74,146.0,427.0,13.4,321,5285,0.00,2.33,0.00,0.000,6,0.000,0.047,2881,1978,2199,0,0,0,0,0,0
$GC,5612,0.74,146.0,378.9,15.6,330,5616,0.00,2.33,0.00,0.000,4,0.000,0.067,2891,566,2196,0,0,0,0,0,0
$GC,5639,0.74,146.0,374.3,15.8,330,5643,0.00,2.25,0.00,0.000,6,0.000,0.042,2892,1987,2196,0,0,0,0,0,0
$GC,5970,0.74,146.0,326.1,13.9,338,5974,0.00,2.22,0.00,0.000,4,0.000,0.058,2891,3394,2194,0,0,0,0,0,0
$GC,6082,0.74,146.0,310.8,13.4,340,6086,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,1970,2192,0,0,0,0,0,0
$GC,6403,0.74,146.0,273.0,12.6,354,6407,0.00,2.25,0.00,0.000,4,0.000,0.060,2911,570,2191,0,0,0,0,0,0
$GC,6437,0.74,146.0,268.4,12.9,355,6443,0.12,2.20,0.00,0.000,6,0.145,0.038,2878,1983,2191,0,0,0,0,0,0
$GC,6753,0.74,146.0,234.0,10.7,371,6757,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3388,2190,0,0,0,0,0,0
$GC,6876,0.74,146.0,221.1,10.4,376,6880,0.00,2.17,0.00,0.000,6,0.000,0.038,2886,1976,2189,0,0,0,0,0,0
$GC,7196,0.74,146.0,191.3,10.1,395,7200,0.00,2.22,0.00,0.000,4,0.000,0.058,2896,569,2189,0,0,0,0,0,0
$GC,7313,0.74,146.0,180.0,9.2,405,7317,0.00,2.20,0.00,0.000,6,0.000,0.037,2896,1993,2188,0,0,0,0,0,0
$GC,7641,0.74,146.0,146.1,11.4,435,7645,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3386,2188,0,0,0,0,0,0
$GC,7737,0.74,146.0,134.4,10.9,443,7745,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1979,2188,0,0,0,0,0,0
$GC,8065,0.74,146.0,102.8,10.3,474,8069,0.00,2.22,0.00,0.000,4,0.000,0.057,2916,563,2188,0,0,0,0,0,0
$GC,8106,0.74,146.0,98.7,10.2,477,8110,0.15,2.17,0.00,0.000,6,0.127,0.037,2872,1988,2188,0,0,0,0,0,0
$GC,8431,0.74,148.4,74.7,8.9,512,8438,0.00,2.20,0.00,0.000,4,0.000,0.051,2872,3381,2187,0,0,0,0,0,0
$GC,8540,0.74,148.4,63.5,10.3,531,8545,0.00,2.20,0.00,0.000,6,0.000,0.039,2879,1969,2188,0,0,0,0,0,0
$GC,8875,0.78,178.2,29.5,7.8,592,8909,0.00,2.25,25.75,0.462,4,0.000,0.056,2889,569,2072,0,0,0,0,0,0
$GC,8925,0.81,209.5,25.7,7.7,599,8958,0.00,2.22,27.42,0.456,6,0.000,0.041,2889,1982,1944,0,0,0,0,0,0
$GC,9119,0.84,226.4,9.1,8.3,634,9140,0.00,2.20,15.82,0.427,4,0.000,0.048,2889,3387,1874,0,0,0,0,0,0
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9183,begin surface coast
$FINISH,0.6,1.023202
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9234,36.72,0.430,0,0,1576,300.24
$SM_GC,1.18,0.00,0.00,36.72,0.000,0.000,0.430,29,1947,1576,-8.16,-0.28,300.24
$IRIDIUM_FIX,2101.76,-15813.63,050902,090945
$TT8_MAMPS,0.028379
$HUMID,65.63
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.5,36.613
$10V_AH,10.4,40.286
$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,18.950,94.000,316.225,36.725,0.000,51.395,82.272,231.441,19.000,0.000,20.529,1222.643,5302.085,395.937,2291.230,633.415,0.000,1230.370,0.000,2235.972,0.000,117.264,0.000
$DEVICE_MAMPS,226.265,67.496,760.864,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,440.961,379.998,1285.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34889,650
$CAP_FILE_SIZE,108587,0
$CFSIZE,260165632,233926656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,121133,2107.417,-15752.562,38,0.8,38,9.8