version: 66.06
glider: 523
mission: 4
dive: 446
start: 6 11 113 15 6 3
data:
$ID,523
$MISSION,4
$DIVE,446
$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,-44836.73
$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,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
$GPS1,145941,2107.094,-15752.320,16,1.0,16,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.0
$GPS2,150547,2107.143,-15752.418,21,1.0,21,9.8
$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,88.7,16597,-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,-76.15,0.000,2,0.000,0.000,39,1969,3355,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-3.9,12,115,9.57,2.33,-0.90,0.000,4,0.228,0.067,2394,547,3398,0,0,0,0,0,0
$GC,191,-0.74,-146.0,23.2,-16.5,28,198,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1962,3399,0,0,0,0,0,0
$GC,363,-0.74,-146.0,47.1,-11.1,59,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3400,0,0,0,0,0,0
$GC,692,-0.74,-146.0,93.1,-11.9,111,696,0.00,2.22,0.00,0.000,4,0.000,0.057,2376,3365,3401,0,0,0,0,0,0
$GC,744,-0.74,-146.0,100.0,-13.0,115,749,0.00,2.25,0.00,0.000,6,0.000,0.044,2376,1951,3401,0,0,0,0,0,0
$GC,1076,-0.74,-146.0,143.4,-12.3,146,1080,0.00,2.28,0.00,0.000,4,0.000,0.055,2376,537,3403,0,0,0,0,0,0
$GC,1220,-0.74,-146.0,162.7,-12.4,158,1226,0.10,2.20,0.00,0.000,6,0.140,0.035,2397,1964,3403,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,197.0,-10.4,189,1551,0.00,2.33,0.00,0.000,4,0.000,0.052,2398,541,3403,0,0,0,0,0,0
$GC,1601,-0.74,-146.0,203.4,-11.3,192,1607,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1962,3403,0,0,0,0,0,0
$GC,1921,-0.74,-146.0,235.2,-8.5,208,1925,0.00,2.25,0.00,0.000,4,0.000,0.056,2379,3364,3403,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,238.1,-7.5,209,1960,0.00,2.25,0.00,0.000,6,0.000,0.043,2379,1947,3403,0,0,0,0,0,0
$GC,2275,-0.74,-146.0,260.1,-7.3,225,2279,0.00,2.28,0.00,0.000,4,0.000,0.055,2379,540,3403,0,0,0,0,0,0
$GC,2533,-0.74,-146.0,281.5,-8.1,236,2539,0.12,2.17,0.00,0.000,6,0.168,0.035,2401,1969,3403,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,301.0,-5.5,252,2857,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,544,3403,0,0,0,0,0,0
$GC,3017,-0.74,-146.0,311.4,-6.7,255,3021,0.00,2.17,0.00,0.000,6,0.000,0.037,2394,1962,3403,0,0,0,0,0,0
$GC,3349,-0.74,-146.0,330.3,-5.9,263,3353,0.00,2.33,0.00,0.000,4,0.000,0.056,2394,540,3403,0,0,0,0,0,0
$GC,3568,-0.74,-146.0,344.5,-6.7,267,3573,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1958,3402,0,0,0,0,0,0
$GC,3899,-0.74,-146.0,368.2,-7.7,276,3903,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,549,3401,0,0,0,0,0,0
$GC,3939,-0.74,-146.0,371.5,-8.2,277,3943,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1962,3400,0,0,0,0,0,0
$GC,4266,-0.74,-146.0,396.8,-7.8,285,4270,0.00,2.33,0.00,0.000,4,0.000,0.059,2375,552,3399,0,0,0,0,0,0
$GC,4328,-0.74,-146.0,402.3,-8.8,286,4332,0.12,2.17,0.00,0.000,6,0.165,0.042,2398,1958,3398,0,0,0,0,0,0
$GC,4672,-0.74,-146.0,429.3,-8.0,295,4676,0.00,2.30,0.00,0.000,4,0.000,0.061,2398,547,3396,0,0,0,0,0,0
$GC,4721,-0.74,-146.0,434.2,-9.1,296,4725,0.00,2.20,0.00,0.000,6,0.000,0.043,2390,1955,3395,0,0,0,0,0,0
$STATE,4916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4916,begin apogee
$GC,4923,-0.17,0.0,450.5,8.3,301,5047,0.60,0.00,121.45,0.759,6,0.117,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,5048,end apogee,CONTROL_FINISHED_OK
$STATE,5048,begin climb
$GC,5051,0.74,146.0,453.0,0.0,304,5189,0.85,2.47,126.10,0.732,4,0.085,0.061,2870,3392,2202,0,0,0,0,0,0
$GC,5285,0.74,146.0,429.1,12.6,309,5289,0.00,2.35,0.00,0.000,6,0.000,0.049,2879,1979,2198,0,0,0,0,0,0
$GC,5627,0.74,146.0,384.9,13.1,318,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1979,2196,0,0,0,0,0,0
$GC,5951,0.74,146.0,341.4,13.6,326,5956,0.00,2.30,0.00,0.000,4,0.000,0.061,2879,3397,2194,0,0,0,0,0,0
$GC,6069,0.74,146.0,323.9,15.6,328,6073,0.00,2.28,0.00,0.000,6,0.000,0.044,2888,1967,2193,0,0,0,0,0,0
$GC,6382,0.74,146.0,279.4,13.8,339,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1968,2192,0,0,0,0,0,0
$GC,6691,0.74,146.0,239.2,12.1,354,6695,0.00,2.20,0.00,0.000,4,0.000,0.058,2899,572,2190,0,0,0,0,0,0
$GC,6736,0.74,146.0,233.5,13.0,356,6740,0.00,2.17,0.00,0.000,6,0.000,0.037,2899,1989,2190,0,0,0,0,0,0
$GC,7057,0.74,146.0,199.3,9.4,372,7061,0.00,2.20,0.00,0.000,4,0.000,0.053,2899,3388,2189,0,0,0,0,0,0
$GC,7184,0.74,146.0,185.5,11.3,383,7189,0.12,2.20,0.00,0.000,6,0.150,0.041,2874,1969,2188,0,0,0,0,0,0
$GC,7511,0.74,146.0,156.5,10.7,413,7515,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3389,2188,0,0,0,0,0,0
$GC,7543,0.74,146.0,152.7,11.6,415,7550,0.00,2.22,0.00,0.000,6,0.000,0.041,2882,1976,2187,0,0,0,0,0,0
$GC,7870,0.76,166.7,118.9,8.2,446,7889,0.00,0.00,16.30,0.527,6,0.000,0.000,2882,1976,2119,0,0,0,0,0,0
$GC,8209,0.80,195.8,92.1,7.8,478,8244,0.00,2.28,25.70,0.511,4,0.000,0.051,2882,3379,2000,0,0,0,0,0,0
$GC,8282,0.80,195.8,85.4,9.2,484,8290,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1986,1999,0,0,0,0,0,0
$GC,8612,0.80,195.8,59.9,9.9,539,8617,0.00,2.28,0.00,0.000,4,0.000,0.052,2891,3393,1998,0,0,0,0,0,0
$GC,8669,0.80,195.8,54.3,10.3,549,8674,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1979,1998,0,0,0,0,0,0
$GC,9001,0.83,219.8,32.0,8.0,610,9032,0.00,2.28,21.42,0.450,4,0.000,0.056,2895,3376,1902,0,0,0,0,0,0
$GC,9067,0.83,219.8,26.6,9.2,621,9075,0.00,2.25,0.00,0.000,6,0.000,0.047,2903,1980,1901,0,0,0,0,0,0
$GC,9236,0.83,222.9,14.4,8.9,652,9244,0.00,2.30,4.32,0.327,4,0.000,0.058,2911,560,1890,0,0,0,0,0,0
$GC,9270,0.83,222.9,11.2,9.9,657,9278,0.00,2.22,0.00,0.000,6,0.000,0.039,2912,1973,1890,0,0,0,0,0,0
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,0.8,1.023358
$STATE,9380,end surface coast,CONTROL_FINISHED_OK
$STATE,9380,begin surface
$SM_CCo,9398,35.72,0.425,0,0,1575,300.24
$SM_GC,1.52,0.00,0.00,35.72,0.000,0.000,0.425,48,1976,1575,-8.10,0.51,300.24
$IRIDIUM_FIX,2057.14,-15753.90,050902,121258
$TT8_MAMPS,0.028379
$HUMID,64.68
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,36.786
$10V_AH,10.4,40.482
$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,18.850,90.125,315.300,35.725,0.000,28.277,31.997,167.519,19.250,0.000,22.317,1230.759,5439.335,405.234,2234.564,486.516,0.000,1200.197,0.000,2177.426,0.000,121.864,0.000
$DEVICE_MAMPS,227.799,66.729,759.330,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,459.290,382.858,1317.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38021,677
$CAP_FILE_SIZE,105066,0
$CFSIZE,260165632,233824256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,174435,2107.125,-15751.899,39,0.8,39,9.8