version: 66.06
glider: 523
mission: 4
dive: 450
start: 6 12 113 2 0 52
data:
$ID,523
$MISSION,4
$DIVE,450
$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,-44926.227
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,015448,2107.561,-15748.180,15,1.0,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.5
$GPS2,020036,2107.581,-15748.220,19,0.9,19,9.8
$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,99.9,9728,-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,-76.18,0.000,2,0.000,0.000,29,1963,3378,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.5,-5.9,12,113,9.57,2.28,-0.35,0.000,4,0.227,0.067,2392,543,3396,0,0,0,0,0,0
$GC,199,-0.74,-146.0,27.1,-16.9,30,206,0.00,2.20,0.00,0.000,6,0.000,0.036,2383,1951,3398,0,0,0,0,0,0
$GC,373,-0.74,-146.0,56.9,-16.0,61,378,0.00,2.25,0.00,0.000,4,0.000,0.055,2384,551,3398,0,0,0,0,0,0
$GC,387,-0.74,-146.0,59.5,-16.5,63,393,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1961,3398,0,0,0,0,0,0
$GC,722,-0.74,-146.0,99.9,-10.0,108,729,0.00,2.33,0.00,0.000,4,0.000,0.054,2374,543,3399,0,0,0,0,0,0
$GC,837,-0.74,-146.0,113.0,-12.3,118,842,0.15,2.15,0.00,0.000,6,0.160,0.035,2404,1963,3400,0,0,0,0,0,0
$GC,1165,-0.74,-146.0,145.0,-10.2,148,1169,0.00,2.30,0.00,0.000,4,0.000,0.053,2404,549,3401,0,0,0,0,0,0
$GC,1291,-0.74,-146.0,159.9,-11.8,159,1299,0.00,2.17,0.00,0.000,6,0.000,0.036,2397,1952,3402,0,0,0,0,0,0
$GC,1618,-0.74,-146.0,188.5,-7.5,190,1622,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,547,3402,0,0,0,0,0,0
$GC,1777,-0.74,-146.0,201.8,-7.9,203,1782,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1962,3402,0,0,0,0,0,0
$GC,2095,-0.74,-146.0,229.8,-10.2,218,2099,0.00,2.28,0.00,0.000,4,0.000,0.052,2387,542,3402,0,0,0,0,0,0
$GC,2352,-0.74,-146.0,260.9,-11.5,229,2356,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1961,3402,0,0,0,0,0,0
$GC,2671,-0.74,-146.0,291.7,-10.1,244,2675,0.00,2.28,0.00,0.000,4,0.000,0.054,2378,552,3402,0,0,0,0,0,0
$GC,2901,-0.74,-146.0,315.3,-10.3,251,2906,0.12,2.12,0.00,0.000,6,0.163,0.038,2401,1955,3402,0,0,0,0,0,0
$GC,3219,-0.74,-146.0,336.7,-6.1,259,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1955,3402,0,0,0,0,0,0
$GC,3540,-0.74,-146.0,356.4,-6.6,267,3544,0.00,2.28,0.00,0.000,4,0.000,0.058,2401,552,3401,0,0,0,0,0,0
$GC,3629,-0.74,-146.0,363.2,-7.5,269,3634,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,1962,3400,0,0,0,0,0,0
$GC,3949,-0.74,-146.0,383.4,-6.3,277,3953,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,552,3399,0,0,0,0,0,0
$GC,4151,-0.74,-146.0,399.7,-8.2,281,4155,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1958,3398,0,0,0,0,0,0
$GC,4494,-0.74,-146.0,427.9,-8.3,290,4498,0.00,2.30,0.00,0.000,4,0.000,0.060,2383,548,3395,0,0,0,0,0,0
$GC,4662,-0.74,-146.0,441.7,-8.1,293,4668,0.00,2.20,0.00,0.000,6,0.000,0.042,2374,1959,3394,0,0,0,0,0,0
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4795,-0.17,0.0,451.2,7.4,297,4919,0.65,0.00,120.90,0.757,6,0.123,0.000,2579,1960,2800,0,0,0,0,0,0
$STATE,4920,end apogee,CONTROL_FINISHED_OK
$STATE,4920,begin climb
$GC,4923,0.74,146.0,452.6,0.0,300,5058,0.88,2.38,125.97,0.735,4,0.080,0.058,2874,3387,2205,0,0,0,0,0,0
$GC,5116,0.74,146.0,430.0,15.3,305,5120,0.00,2.30,0.00,0.000,6,0.000,0.048,2883,1988,2201,0,0,0,0,0,0
$GC,5446,0.74,146.0,386.6,12.2,313,5450,0.00,2.35,0.00,0.000,4,0.000,0.067,2894,569,2197,0,0,0,0,0,0
$GC,5485,0.74,146.0,381.5,12.6,314,5489,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1981,2197,0,0,0,0,0,0
$GC,5810,0.74,146.0,339.0,12.7,322,5814,0.00,2.25,0.00,0.000,4,0.000,0.064,2894,3388,2195,0,0,0,0,0,0
$GC,5854,0.74,146.0,332.8,14.5,323,5858,0.00,2.25,0.00,0.000,6,0.000,0.049,2904,1980,2194,0,0,0,0,0,0
$GC,6173,0.74,146.0,291.7,12.7,332,6177,0.00,2.30,0.00,0.000,4,0.000,0.061,2904,3392,2193,0,0,0,0,0,0
$GC,6213,0.74,146.0,286.1,14.1,334,6218,0.12,2.25,0.00,0.000,6,0.156,0.052,2879,1980,2193,0,0,0,0,0,0
$GC,6540,0.74,146.0,247.2,12.8,350,6544,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,566,2191,0,0,0,0,0,0
$GC,6596,0.74,146.0,239.2,14.3,352,6601,0.00,2.17,0.00,0.000,6,0.000,0.038,2888,1986,2191,0,0,0,0,0,0
$GC,6911,0.74,146.0,200.5,11.8,368,6915,0.00,2.17,0.00,0.000,4,0.000,0.052,2888,3386,2190,0,0,0,0,0,0
$GC,6963,0.74,146.0,194.6,12.3,372,6967,0.00,2.28,0.00,0.000,6,0.000,0.048,2897,1969,2190,0,0,0,0,0,0
$GC,7291,0.74,146.0,159.0,10.1,402,7295,0.00,2.22,0.00,0.000,4,0.000,0.058,2907,565,2189,0,0,0,0,0,0
$GC,7385,0.76,163.8,150.1,8.3,410,7410,0.00,2.20,14.05,0.554,6,0.000,0.044,2907,1976,2131,0,0,0,0,0,0
$GC,7729,0.76,163.8,115.0,10.3,442,7733,0.00,2.25,0.00,0.000,4,0.000,0.052,2907,3394,2128,0,0,0,0,0,0
$GC,7761,0.76,163.8,111.2,10.7,444,7769,0.08,2.25,0.00,0.000,6,0.129,0.041,2889,1982,2128,0,0,0,0,0,0
$GC,8088,0.80,201.4,83.2,7.5,475,8126,0.00,2.25,32.88,0.513,4,0.000,0.052,2889,3394,1977,0,0,0,0,0,0
$GC,8147,0.80,201.4,77.8,9.8,481,8153,0.00,2.25,0.00,0.000,6,0.000,0.041,2897,1969,1976,0,0,0,0,0,0
$GC,8477,0.83,223.7,44.6,8.1,542,8501,0.00,0.00,19.77,0.466,6,0.000,0.000,2897,1969,1886,0,0,0,0,0,0
$GC,8820,0.84,229.3,16.5,8.8,606,8835,0.00,2.33,6.00,0.374,4,0.000,0.060,2897,3385,1865,0,0,0,0,0,0
$GC,8872,0.84,229.3,11.7,10.1,614,8880,0.00,2.28,0.00,0.000,6,0.000,0.050,2903,1980,1864,0,0,0,0,0,0
$STATE,8984,end climb,SURFACE_DEPTH_REACHED
$STATE,8984,begin surface coast
$FINISH,0.5,1.023104
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9037,33.72,0.430,0,0,1574,300.24
$SM_GC,1.34,0.00,0.00,33.72,0.000,0.000,0.430,28,1973,1574,-8.16,0.45,300.24
$IRIDIUM_FIX,2059.45,-15753.90,050902,232301
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.5,37.128
$10V_AH,10.4,40.867
$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,18.825,89.625,319.575,33.725,0.000,26.627,34.353,149.697,19.250,0.000,19.605,1189.535,5122.088,405.247,2224.650,474.258,0.000,1191.656,0.000,2178.190,0.000,123.887,0.000
$DEVICE_MAMPS,227.032,67.496,757.029,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,435.733,369.223,1311.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34897,641
$CAP_FILE_SIZE,103011,0
$CFSIZE,260165632,233631744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,043322,2107.479,-15747.480,40,0.9,40,9.8