version: 66.06
glider: 523
mission: 4
dive: 453
start: 6 12 113 10 13 33
data:
$ID,523
$MISSION,4
$DIVE,453
$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,-44994.895
$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,19
$R_STBD_OVSHOOT,40
$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
$GPS1,100634,2107.648,-15744.952,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.2
$GPS2,101317,2107.683,-15744.916,18,0.9,18,9.8
$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,125.3,4888,-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,-76.15,0.000,2,0.000,0.000,37,1955,3386,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.5,-5.3,12,113,9.60,0.00,0.00,0.000,6,0.226,0.000,2395,1954,3388,0,0,0,0,0,0
$GC,272,-0.74,-146.0,37.0,-14.5,44,279,0.00,2.28,0.00,0.000,4,0.000,0.054,2386,3357,3389,0,0,0,0,0,0
$GC,326,-0.74,-146.0,46.2,-17.0,53,331,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1953,3389,0,0,0,0,0,0
$GC,658,-0.74,-146.0,87.8,-11.4,108,662,0.00,2.22,0.00,0.000,4,0.000,0.058,2386,545,3391,0,0,0,0,0,0
$GC,906,-0.74,-146.0,116.7,-11.8,130,914,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1954,3391,0,0,0,0,0,0
$GC,1234,-0.74,-146.0,156.7,-11.9,161,1238,0.00,2.20,0.00,0.000,4,0.000,0.055,2367,3357,3392,0,0,0,0,0,0
$GC,1297,-0.74,-146.0,164.1,-12.0,166,1302,0.12,2.22,0.00,0.000,6,0.154,0.043,2398,1949,3392,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,194.3,-8.5,197,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1949,3393,0,0,0,0,0,0
$GC,1950,-0.74,-146.0,218.9,-6.7,216,1954,0.00,2.22,0.00,0.000,4,0.000,0.054,2399,545,3393,0,0,0,0,0,0
$GC,2163,-0.74,-146.0,235.4,-8.8,225,2167,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1956,3393,0,0,0,0,0,0
$GC,2484,-0.74,-146.0,261.4,-7.8,240,2488,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,3366,3393,0,0,0,0,0,0
$GC,2556,-0.74,-146.0,266.8,-7.0,243,2560,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1950,3393,0,0,0,0,0,0
$GC,2879,-0.74,-146.0,287.3,-7.1,259,2883,0.00,2.20,0.00,0.000,4,0.000,0.051,2371,3358,3393,0,0,0,0,0,0
$GC,2935,-0.74,-146.0,292.3,-8.1,261,2942,0.12,2.22,0.00,0.000,6,0.149,0.043,2403,1947,3393,0,0,0,0,0,0
$GC,3271,-0.74,-146.0,313.3,-6.6,273,3275,0.00,2.22,0.00,0.000,4,0.000,0.058,2404,548,3393,0,0,0,0,0,0
$GC,3472,-0.74,-146.0,329.9,-8.0,277,3479,0.00,2.15,0.00,0.000,6,0.000,0.037,2396,1957,3392,0,0,0,0,0,0
$GC,3824,-0.74,-146.0,358.6,-7.9,286,3828,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,550,3390,0,0,0,0,0,0
$GC,3993,-0.74,-146.0,370.6,-6.5,289,3997,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1958,3389,0,0,0,0,0,0
$GC,4325,-0.74,-146.0,393.3,-7.2,297,4329,0.00,2.22,0.00,0.000,4,0.000,0.058,2376,3362,3387,0,0,0,0,0,0
$GC,4482,-0.74,-146.0,404.5,-7.4,300,4486,0.00,2.22,0.00,0.000,6,0.000,0.045,2376,1949,3386,0,0,0,0,0,0
$GC,4820,-0.74,-146.0,430.4,-7.9,309,4824,0.00,2.25,0.00,0.000,4,0.000,0.061,2375,544,3384,0,0,0,0,0,0
$GC,5049,-0.74,-146.0,449.8,-7.4,314,5055,0.12,2.17,0.00,0.000,6,0.163,0.040,2398,1959,3382,0,0,0,0,0,0
$STATE,5058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5058,begin apogee
$GC,5064,-0.17,0.0,450.6,7.6,314,5186,0.55,0.00,119.15,0.762,6,0.117,0.000,2581,1959,2799,0,0,0,0,0,0
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5190,0.74,146.0,452.2,0.0,317,5328,0.88,2.42,126.38,0.737,4,0.100,0.058,2873,3379,2203,0,0,0,0,0,0
$GC,5367,0.74,146.0,433.0,13.7,321,5373,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1985,2200,0,0,0,0,0,0
$GC,5699,0.74,146.0,390.5,12.8,330,5703,0.00,2.30,0.00,0.000,4,0.000,0.059,2893,557,2196,0,0,0,0,0,0
$GC,5732,0.74,146.0,386.5,12.9,330,5737,0.00,2.22,0.00,0.000,6,0.000,0.038,2893,1978,2195,0,0,0,0,0,0
$GC,6063,0.74,146.0,345.0,12.4,339,6067,0.00,2.22,0.00,0.000,4,0.000,0.053,2893,3389,2194,0,0,0,0,0,0
$GC,6107,0.74,146.0,338.9,14.1,340,6111,0.00,2.30,0.00,0.000,6,0.000,0.049,2900,1974,2193,0,0,0,0,0,0
$GC,6425,0.74,146.0,298.1,12.8,348,6429,0.00,2.28,0.00,0.000,4,0.000,0.060,2911,562,2192,0,0,0,0,0,0
$GC,6492,0.74,146.0,289.6,12.4,351,6497,0.12,2.22,0.00,0.000,6,0.146,0.043,2877,1989,2191,0,0,0,0,0,0
$GC,6819,0.74,146.0,252.1,11.3,367,6823,0.00,2.20,0.00,0.000,4,0.000,0.053,2877,3389,2190,0,0,0,0,0,0
$GC,7004,0.74,146.0,229.7,11.5,375,7008,0.00,2.25,0.00,0.000,6,0.000,0.041,2885,1966,2189,0,0,0,0,0,0
$GC,7329,0.74,146.0,197.6,9.7,392,7333,0.00,2.25,0.00,0.000,4,0.000,0.056,2896,571,2188,0,0,0,0,0,0
$GC,7424,0.74,146.0,186.7,11.7,400,7428,0.00,2.20,0.00,0.000,6,0.000,0.036,2896,1995,2188,0,0,0,0,0,0
$GC,7751,0.74,146.0,150.2,11.3,430,7755,0.00,2.17,0.00,0.000,4,0.000,0.052,2896,3391,2188,0,0,0,0,0,0
$GC,7856,0.74,146.0,137.1,12.7,439,7860,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1982,2187,0,0,0,0,0,0
$GC,8183,0.74,146.0,100.7,11.1,469,8187,0.00,2.22,0.00,0.000,4,0.000,0.051,2906,3383,2187,0,0,0,0,0,0
$GC,8223,0.74,146.0,95.9,12.1,472,8228,0.15,2.17,0.00,0.000,6,0.140,0.041,2873,1980,2187,0,0,0,0,0,0
$GC,8549,0.77,169.3,64.7,8.1,518,8573,0.00,2.20,18.35,0.488,4,0.000,0.048,2873,3383,2108,0,0,0,0,0,0
$GC,8646,0.77,169.3,56.5,9.5,535,8652,0.00,2.20,0.00,0.000,6,0.000,0.040,2881,1979,2107,0,0,0,0,0,0
$GC,8979,0.87,258.1,32.7,5.3,596,9061,0.12,2.28,74.68,0.472,4,0.072,0.053,2974,571,1746,0,0,0,0,0,0
$GC,9099,0.87,258.1,19.2,13.9,615,9106,0.15,2.22,0.00,0.000,6,0.102,0.035,2923,1973,1746,0,0,0,0,0,0
$STATE,9248,end climb,SURFACE_DEPTH_REACHED
$STATE,9248,begin surface coast
$FINISH,0.6,1.011391
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9288,21.48,0.423,0,0,1576,300.24
$SM_GC,1.61,0.00,0.00,21.48,0.000,0.000,0.423,42,1987,1576,-8.12,0.88,300.24
$IRIDIUM_FIX,2059.45,-15826.07,060902,070750
$TT8_MAMPS,0.028379
$HUMID,65.19
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.5,37.378
$10V_AH,10.4,41.154
$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,19.350,89.150,338.550,21.475,0.000,30.840,36.691,177.038,19.250,0.000,18.992,1192.207,5383.854,399.163,2205.301,528.263,0.000,1209.608,0.000,2151.896,0.000,117.275,0.000
$DEVICE_MAMPS,226.265,61.360,761.631,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.919,365.246,1218.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35020,647
$CAP_FILE_SIZE,104973,0
$CFSIZE,260165632,233484288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,124942,2107.371,-15744.058,20,2.0,20,9.8