version: 66.06
glider: 523
mission: 4
dive: 452
start: 6 12 113 7 24 11
data:
$ID,523
$MISSION,4
$DIVE,452
$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,-44975.273
$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,25
$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
$GPS1,071750,2107.346,-15746.469,20,1.8,21,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.0
$GPS2,072354,2107.381,-15746.474,16,1.9,16,9.8
$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,105.5,6795,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.07,0.000,2,0.000,0.000,51,1989,3338,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-4.4,12,120,9.55,2.38,-1.25,0.000,4,0.230,0.064,2389,551,3397,0,0,0,0,0,0
$GC,196,-0.74,-146.0,26.9,-19.6,29,203,0.00,2.22,0.00,0.000,6,0.000,0.039,2381,1954,3398,0,0,0,0,0,0
$GC,368,-0.74,-146.0,55.0,-14.0,60,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1954,3399,0,0,0,0,0,0
$GC,699,-0.74,-146.0,96.3,-11.7,108,703,0.00,2.30,0.00,0.000,4,0.000,0.052,2381,542,3400,0,0,0,0,0,0
$GC,952,-0.74,-146.0,132.1,-14.0,130,959,0.08,2.20,0.00,0.000,6,0.147,0.035,2395,1963,3401,0,0,0,0,0,0
$GC,1279,-0.74,-146.0,167.2,-10.1,161,1283,0.00,2.30,0.00,0.000,4,0.000,0.052,2395,540,3402,0,0,0,0,0,0
$GC,1437,-0.74,-146.0,181.9,-8.2,174,1444,0.00,2.20,0.00,0.000,6,0.000,0.036,2387,1956,3402,0,0,0,0,0,0
$GC,1769,-0.74,-146.0,211.0,-8.3,200,1773,0.00,2.28,0.00,0.000,4,0.000,0.052,2387,544,3402,0,0,0,0,0,0
$GC,1902,-0.74,-146.0,223.8,-10.0,206,1906,0.00,2.15,0.00,0.000,6,0.000,0.036,2378,1959,3402,0,0,0,0,0,0
$GC,2229,-0.74,-146.0,251.5,-8.0,222,2233,0.00,2.28,0.00,0.000,4,0.000,0.052,2378,542,3402,0,0,0,0,0,0
$GC,2263,-0.74,-146.0,254.2,-7.8,223,2270,0.12,2.17,0.00,0.000,6,0.163,0.036,2401,1959,3402,0,0,0,0,0,0
$GC,2579,-0.74,-146.0,277.4,-8.3,239,2583,0.00,2.22,0.00,0.000,4,0.000,0.059,2392,3358,3402,0,0,0,0,0,0
$GC,2647,-0.74,-146.0,283.3,-8.8,242,2651,0.00,2.22,0.00,0.000,6,0.000,0.044,2392,1955,3402,0,0,0,0,0,0
$GC,2975,-0.74,-146.0,307.4,-7.6,256,2979,0.00,2.28,0.00,0.000,4,0.000,0.059,2392,541,3402,0,0,0,0,0,0
$GC,3132,-0.74,-146.0,320.1,-8.4,259,3136,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1963,3401,0,0,0,0,0,0
$GC,3475,-0.74,-146.0,340.0,-5.1,268,3480,0.00,2.33,0.00,0.000,4,0.000,0.060,2382,551,3401,0,0,0,0,0,0
$GC,3650,-0.74,-146.0,350.8,-6.3,271,3656,0.00,2.17,0.00,0.000,6,0.000,0.040,2373,1955,3400,0,0,0,0,0,0
$GC,3984,-0.74,-146.0,376.4,-8.7,280,3986,0.10,0.00,0.00,0.000,6,0.169,0.000,2398,1955,3398,0,0,0,0,0,0
$GC,4308,-0.74,-146.0,400.6,-6.7,288,4312,0.00,2.30,0.00,0.000,4,0.000,0.061,2398,551,3396,0,0,0,0,0,0
$GC,4566,-0.74,-146.0,415.4,-5.4,293,4572,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1961,3395,0,0,0,0,0,0
$GC,4898,-0.74,-146.0,432.2,-5.1,302,4902,0.00,2.35,0.00,0.000,4,0.000,0.061,2390,550,3393,0,0,0,0,0,0
$GC,5112,-0.74,-146.0,443.3,-5.5,306,5116,0.00,2.17,0.00,0.000,6,0.000,0.043,2381,1957,3391,0,0,0,0,0,0
$STATE,5279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5279,begin apogee
$GC,5285,-0.17,0.0,451.9,5.2,310,5410,0.62,0.00,121.05,0.775,6,0.120,0.000,2580,1957,2799,0,0,0,0,0,0
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5414,0.74,146.0,452.3,0.0,313,5552,0.85,2.42,126.55,0.746,4,0.083,0.061,2869,3385,2202,0,0,0,0,0,0
$GC,5591,0.74,146.0,434.1,12.6,317,5595,0.00,2.33,0.00,0.000,6,0.000,0.049,2879,1985,2200,0,0,0,0,0,0
$GC,5904,0.74,146.0,394.1,12.9,325,5908,0.00,2.33,0.00,0.000,4,0.000,0.061,2878,3385,2196,0,0,0,0,0,0
$GC,5931,0.74,146.0,390.4,13.5,325,5935,0.00,2.22,0.00,0.000,6,0.000,0.040,2888,1972,2195,0,0,0,0,0,0
$GC,6262,0.74,146.0,345.5,13.5,333,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1972,2194,0,0,0,0,0,0
$GC,6589,0.74,146.0,306.9,11.2,341,6593,0.00,2.22,0.00,0.000,4,0.000,0.054,2899,575,2193,0,0,0,0,0,0
$GC,6644,0.74,146.0,300.6,11.2,342,6648,0.00,2.17,0.00,0.000,6,0.000,0.035,2899,1998,2192,0,0,0,0,0,0
$GC,6976,0.74,146.0,258.9,13.8,358,6980,0.00,2.15,0.00,0.000,4,0.000,0.051,2899,3380,2191,0,0,0,0,0,0
$GC,7177,0.74,146.0,232.3,13.4,367,7182,0.12,2.17,0.00,0.000,6,0.155,0.038,2874,1977,2189,0,0,0,0,0,0
$GC,7501,0.74,146.0,196.4,11.2,384,7505,0.00,2.22,0.00,0.000,4,0.000,0.055,2883,576,2188,0,0,0,0,0,0
$GC,7553,0.74,146.0,190.7,11.2,388,7557,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1987,2188,0,0,0,0,0,0
$GC,7880,0.77,172.8,160.6,7.9,418,7907,0.00,2.22,21.42,0.587,4,0.000,0.051,2883,3380,2095,0,0,0,0,0,0
$GC,8014,0.77,172.8,148.0,9.7,430,8022,0.00,2.20,0.00,0.000,6,0.000,0.037,2893,1979,2092,0,0,0,0,0,0
$GC,8342,0.77,172.8,116.7,10.2,461,8346,0.00,2.22,0.00,0.000,4,0.000,0.048,2893,3389,2091,0,0,0,0,0,0
$GC,8393,0.77,172.8,111.2,11.1,465,8397,0.00,2.20,0.00,0.000,6,0.000,0.037,2899,1978,2091,0,0,0,0,0,0
$GC,8723,0.77,172.8,75.1,10.7,499,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2091,0,0,0,0,0,0
$GC,9056,0.79,189.2,43.5,8.4,560,9076,0.00,2.25,15.12,0.467,4,0.000,0.050,2910,572,2027,0,0,0,0,0,0
$GC,9155,0.81,205.4,35.7,8.4,577,9180,0.00,2.15,15.30,0.455,6,0.000,0.031,2909,1986,1960,0,0,0,0,0,0
$GC,9507,0.83,223.9,9.3,8.3,641,9534,0.00,2.25,16.95,0.433,4,0.000,0.051,2909,3386,1885,0,0,0,0,0,0
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9581,begin surface coast
$FINISH,0.6,1.023067
$STATE,9612,end surface coast,CONTROL_FINISHED_OK
$STATE,9612,begin surface
$SM_CCo,9633,36.95,0.432,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,36.95,0.000,0.000,0.432,37,1958,1575,-8.14,0.03,300.24
$IRIDIUM_FIX,2101.76,-15747.88,060902,040412
$TT8_MAMPS,0.028379
$HUMID,65.00
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.5,37.295
$10V_AH,10.4,41.059
$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,18.700,85.100,316.400,36.950,0.000,27.017,44.945,158.280,19.250,0.000,17.265,1225.624,5651.375,398.404,2255.257,501.252,0.000,1212.169,0.000,2205.900,0.000,126.348,0.000
$DEVICE_MAMPS,230.100,64.428,775.437,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,448.224,377.956,1284.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38043,659
$CAP_FILE_SIZE,104451,0
$CFSIZE,260165632,233529344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,100634,2107.648,-15744.952,34,0.9,34,9.8