version: 66.06
glider: 523
mission: 4
dive: 445
start: 6 11 113 12 24 34
data:
$ID,523
$MISSION,4
$DIVE,445
$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,-44813.785
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,121133,2107.417,-15752.562,38,0.8,38,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.3
$GPS2,122417,2107.503,-15752.677,17,1.1,17,9.8
$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,90.7,17149,-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,-75.88,0.000,2,0.000,0.000,29,1947,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,113,9.60,2.28,-0.65,0.000,4,0.226,0.063,2396,540,3397,0,0,0,0,0,0
$GC,162,-0.74,-146.0,18.6,-18.3,23,170,0.00,2.25,0.00,0.000,6,0.000,0.041,2388,1958,3398,0,0,0,0,0,0
$GC,334,-0.74,-146.0,42.6,-12.7,54,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1958,3399,0,0,0,0,0,0
$GC,668,-0.74,-146.0,88.4,-12.7,109,672,0.00,2.25,0.00,0.000,4,0.000,0.054,2388,540,3400,0,0,0,0,0,0
$GC,720,-0.74,-146.0,94.9,-12.7,113,727,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1968,3400,0,0,0,0,0,0
$GC,1054,-0.74,-146.0,132.5,-11.4,144,1058,0.00,2.33,0.00,0.000,4,0.000,0.055,2378,544,3400,0,0,0,0,0,0
$GC,1212,-0.74,-146.0,153.2,-13.5,158,1216,0.12,2.17,0.00,0.000,6,0.166,0.037,2401,1961,3400,0,0,0,0,0,0
$GC,1538,-0.74,-146.0,188.1,-10.9,188,1543,0.00,2.30,0.00,0.000,4,0.000,0.053,2401,541,3401,0,0,0,0,0,0
$GC,1613,-0.74,-146.0,196.6,-11.2,194,1617,0.00,2.15,0.00,0.000,6,0.000,0.036,2393,1960,3401,0,0,0,0,0,0
$GC,1940,-0.74,-146.0,224.2,-7.2,211,1944,0.00,2.30,0.00,0.000,4,0.000,0.053,2393,544,3401,0,0,0,0,0,0
$GC,2175,-0.74,-146.0,245.1,-9.5,221,2180,0.00,2.15,0.00,0.000,6,0.000,0.035,2384,1965,3401,0,0,0,0,0,0
$GC,2493,-0.74,-146.0,271.6,-7.2,237,2497,0.00,2.20,0.00,0.000,4,0.000,0.056,2373,3359,3401,0,0,0,0,0,0
$GC,2746,-0.74,-146.0,290.1,-7.4,248,2750,0.00,2.25,0.00,0.000,6,0.000,0.044,2373,1948,3401,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,315.3,-9.0,259,3064,0.00,2.25,0.00,0.000,4,0.000,0.056,2373,547,3400,0,0,0,0,0,0
$GC,3320,-0.74,-146.0,340.0,-8.9,264,3326,0.15,2.17,0.00,0.000,6,0.154,0.036,2404,1969,3399,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,362.8,-6.8,273,3655,0.00,2.17,0.00,0.000,4,0.000,0.058,2395,3359,3397,0,0,0,0,0,0
$GC,3713,-0.74,-146.0,367.0,-6.8,274,3717,0.00,2.22,0.00,0.000,6,0.000,0.042,2395,1950,3397,0,0,0,0,0,0
$GC,4056,-0.74,-146.0,389.2,-6.7,283,4060,0.00,2.25,0.00,0.000,4,0.000,0.061,2396,548,3395,0,0,0,0,0,0
$GC,4123,-0.74,-146.0,394.2,-7.4,284,4128,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1955,3394,0,0,0,0,0,0
$GC,4461,-0.74,-146.0,418.6,-7.4,293,4465,0.00,2.28,0.00,0.000,4,0.000,0.058,2385,543,3392,0,0,0,0,0,0
$GC,4636,-0.74,-146.0,432.8,-9.0,297,4640,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1966,3391,0,0,0,0,0,0
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4882,begin apogee
$GC,4888,-0.17,0.0,452.3,7.7,303,5012,0.65,0.00,120.45,0.762,6,0.121,0.000,2583,1966,2800,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5016,0.74,146.0,453.7,0.0,306,5147,0.85,0.00,127.20,0.739,6,0.080,0.000,2872,1966,2203,0,0,0,0,0,0
$GC,5465,0.74,146.0,401.5,12.9,317,5469,0.00,2.28,0.00,0.000,4,0.000,0.054,2872,3392,2197,0,0,0,0,0,0
$GC,5531,0.74,146.0,391.8,13.6,318,5536,0.00,2.28,0.00,0.000,6,0.000,0.046,2881,1980,2195,0,0,0,0,0,0
$GC,5874,0.74,146.0,344.6,13.4,327,5878,0.00,2.25,0.00,0.000,4,0.000,0.058,2881,3386,2193,0,0,0,0,0,0
$GC,5913,0.74,146.0,338.9,14.9,327,5919,0.00,2.25,0.00,0.000,6,0.000,0.049,2891,1974,2192,0,0,0,0,0,0
$GC,6245,0.74,146.0,294.7,13.6,336,6249,0.00,2.25,0.00,0.000,4,0.000,0.059,2901,562,2191,0,0,0,0,0,0
$GC,6273,0.74,146.0,290.5,14.1,337,6277,0.00,2.20,0.00,0.000,6,0.000,0.042,2901,1980,2191,0,0,0,0,0,0
$GC,6589,0.74,146.0,250.8,10.6,352,6593,0.00,2.30,0.00,0.000,4,0.000,0.064,2910,572,2190,0,0,0,0,0,0
$GC,6606,0.74,146.0,248.9,10.5,353,6611,0.12,2.20,0.00,0.000,6,0.136,0.043,2875,1983,2189,0,0,0,0,0,0
$GC,6933,0.74,146.0,218.7,10.0,369,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1983,2189,0,0,0,0,0,0
$GC,7247,0.78,177.1,190.7,7.7,389,7282,0.00,2.28,24.77,0.600,4,0.000,0.051,2875,3393,2077,0,0,0,0,0,0
$GC,7426,0.78,177.1,175.9,9.2,405,7430,0.00,2.20,0.00,0.000,6,0.000,0.040,2883,1978,2074,0,0,0,0,0,0
$GC,7754,0.78,177.1,147.8,9.4,435,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1978,2074,0,0,0,0,0,0
$GC,8084,0.78,177.1,111.3,11.1,466,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1978,2073,0,0,0,0,0,0
$GC,8411,0.78,177.1,75.1,10.0,501,8417,0.00,2.28,0.00,0.000,4,0.000,0.057,2883,3394,2073,0,0,0,0,0,0
$GC,8515,0.78,177.1,65.1,9.5,520,8522,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1978,2073,0,0,0,0,0,0
$GC,8851,0.78,177.1,30.6,11.0,581,8856,0.00,2.25,0.00,0.000,4,0.000,0.057,2891,3384,2073,0,0,0,0,0,0
$GC,8961,0.78,177.1,19.2,9.3,602,8969,0.00,2.22,0.00,0.000,6,0.000,0.042,2892,1976,2073,0,0,0,0,0,0
$GC,9133,0.78,177.1,4.1,9.7,633,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1976,2074,0,0,0,0,0,0
$STATE,9145,end climb,SURFACE_DEPTH_REACHED
$STATE,9146,begin surface coast
$FINISH,0.5,0.999252
$STATE,9178,end surface coast,CONTROL_FINISHED_OK
$STATE,9178,begin surface
$SM_CCo,9196,55.08,0.437,0,0,1576,300.24
$SM_GC,1.32,0.00,0.00,55.08,0.000,0.000,0.437,40,1970,1576,-8.13,0.37,300.24
$IRIDIUM_FIX,2101.76,-15748.75,050902,121258
$TT8_MAMPS,0.028379
$HUMID,65.35
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,24.5,36.705
$10V_AH,10.4,40.384
$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,18.775,76.050,272.425,55.075,0.000,77.207,107.085,303.033,19.500,0.000,17.904,1170.774,5540.490,415.004,2128.265,757.528,0.000,1143.095,0.000,2082.070,0.000,117.257,0.000
$DEVICE_MAMPS,226.265,63.661,762.398,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,436.137,366.771,1255.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,35029,641
$CAP_FILE_SIZE,102381,0
$CFSIZE,260165632,233881600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,145941,2107.094,-15752.320,16,1.0,16,9.8