version: 66.06
glider: 523
mission: 4
dive: 455
start: 6 12 113 15 33 27
data:
$ID,523
$MISSION,4
$DIVE,455
$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,-45039.477
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,152653,2106.640,-15744.061,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.7
$GPS2,153311,2106.670,-15744.123,24,0.9,24,9.8
$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,117.5,2617,-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,-75.20,0.000,2,0.000,0.000,26,1948,3346,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.5,12,120,9.65,2.30,-1.02,0.000,4,0.226,0.064,2392,546,3397,0,0,0,0,0,0
$GC,274,-0.74,-146.0,39.9,-16.7,44,281,0.00,2.22,0.00,0.000,6,0.000,0.039,2383,1955,3398,0,0,0,0,0,0
$GC,611,-0.74,-146.0,85.8,-12.2,101,615,0.00,2.30,0.00,0.000,4,0.000,0.054,2383,535,3400,0,0,0,0,0,0
$GC,708,-0.74,-146.0,100.4,-14.8,109,712,0.00,2.20,0.00,0.000,6,0.000,0.037,2374,1961,3400,0,0,0,0,0,0
$GC,1035,-0.74,-146.0,143.0,-13.7,139,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1961,3401,0,0,0,0,0,0
$GC,1353,-0.74,-146.0,178.9,-10.6,169,1357,0.00,2.30,0.00,0.000,4,0.000,0.051,2374,545,3402,0,0,0,0,0,0
$GC,1504,-0.74,-146.0,197.4,-12.8,182,1509,0.12,2.17,0.00,0.000,6,0.166,0.035,2397,1969,3401,0,0,0,0,0,0
$GC,1820,-0.74,-146.0,229.1,-9.5,198,1824,0.00,2.30,0.00,0.000,4,0.000,0.052,2397,537,3401,0,0,0,0,0,0
$GC,1846,-0.74,-146.0,231.6,-9.1,199,1851,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1955,3402,0,0,0,0,0,0
$GC,2167,-0.74,-146.0,256.5,-7.8,214,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1955,3402,0,0,0,0,0,0
$GC,2472,-0.74,-146.0,282.4,-8.3,229,2476,0.00,2.30,0.00,0.000,4,0.000,0.052,2389,537,3402,0,0,0,0,0,0
$GC,2616,-0.74,-146.0,296.0,-10.4,235,2622,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1961,3402,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,325.1,-8.1,245,2954,0.00,2.30,0.00,0.000,4,0.000,0.053,2379,543,3402,0,0,0,0,0,0
$GC,3062,-0.74,-146.0,333.9,-7.4,247,3066,0.12,2.17,0.00,0.000,6,0.163,0.038,2403,1963,3402,0,0,0,0,0,0
$GC,3406,-0.74,-146.0,353.6,-5.9,256,3410,0.00,2.30,0.00,0.000,4,0.000,0.055,2404,537,3401,0,0,0,0,0,0
$GC,3597,-0.74,-146.0,366.0,-6.2,260,3601,0.00,2.20,0.00,0.000,6,0.000,0.038,2395,1961,3401,0,0,0,0,0,0
$GC,3948,-0.74,-146.0,386.7,-6.5,269,3952,0.00,2.20,0.00,0.000,4,0.000,0.055,2385,3359,3399,0,0,0,0,0,0
$GC,3999,-0.74,-146.0,390.4,-6.8,270,4003,0.00,2.22,0.00,0.000,6,0.000,0.044,2385,1956,3399,0,0,0,0,0,0
$GC,4313,-0.74,-146.0,408.1,-5.3,278,4317,0.00,2.28,0.00,0.000,4,0.000,0.060,2385,539,3396,0,0,0,0,0,0
$GC,4425,-0.74,-146.0,413.7,-5.4,280,4429,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1956,3395,0,0,0,0,0,0
$GC,4768,-0.74,-146.0,433.0,-6.0,289,4772,0.00,2.25,0.00,0.000,4,0.000,0.057,2365,3364,3393,0,0,0,0,0,0
$GC,4829,-0.74,-146.0,437.4,-7.0,290,4834,0.12,2.25,0.00,0.000,6,0.147,0.048,2397,1957,3393,0,0,0,0,0,0
$STATE,5093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5094,begin apogee
$GC,5100,-0.17,0.0,452.1,5.3,297,5224,0.57,0.00,120.95,0.767,6,0.117,0.000,2584,1956,2799,0,0,0,0,0,0
$STATE,5225,end apogee,CONTROL_FINISHED_OK
$STATE,5225,begin climb
$GC,5228,0.74,146.0,452.4,0.0,300,5366,0.82,2.50,126.25,0.738,4,0.077,0.054,2870,3382,2202,0,0,0,0,0,0
$GC,5435,0.74,146.0,429.3,13.3,304,5441,0.00,2.35,0.00,0.000,6,0.000,0.050,2880,1975,2198,0,0,0,0,0,0
$GC,5766,0.74,146.0,386.2,13.4,313,5770,0.00,2.33,0.00,0.000,4,0.000,0.058,2879,3387,2195,0,0,0,0,0,0
$GC,5822,0.74,146.0,377.7,15.6,314,5826,0.00,2.30,0.00,0.000,6,0.000,0.048,2888,1967,2195,0,0,0,0,0,0
$GC,6170,0.74,146.0,328.6,12.8,323,6174,0.00,2.33,0.00,0.000,4,0.000,0.060,2888,3385,2193,0,0,0,0,0,0
$GC,6219,0.74,146.0,322.2,12.3,324,6223,0.00,2.28,0.00,0.000,6,0.000,0.052,2898,1982,2192,0,0,0,0,0,0
$GC,6534,0.74,146.0,286.5,11.7,334,6537,0.00,2.28,0.00,0.000,4,0.000,0.061,2908,568,2191,0,0,0,0,0,0
$GC,6561,0.74,146.0,283.1,12.3,335,6566,0.12,2.20,0.00,0.000,6,0.140,0.042,2874,1980,2190,0,0,0,0,0,0
$GC,6882,0.74,146.0,247.4,10.8,351,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1981,2189,0,0,0,0,0,0
$GC,7191,0.74,146.0,216.7,9.1,366,7195,0.00,2.25,0.00,0.000,4,0.000,0.052,2874,3389,2188,0,0,0,0,0,0
$GC,7380,0.74,146.0,198.1,10.4,375,7384,0.00,2.22,0.00,0.000,6,0.000,0.041,2882,1968,2187,0,0,0,0,0,0
$GC,7707,0.75,159.7,165.1,8.5,405,7722,0.00,2.25,10.30,0.542,4,0.000,0.058,2892,579,2147,0,0,0,0,0,0
$GC,7797,0.76,163.1,157.2,8.9,413,7808,0.00,2.17,4.25,0.409,6,0.000,0.037,2892,1983,2135,0,0,0,0,0,0
$GC,8130,0.76,163.1,121.8,10.8,444,8134,0.00,2.22,0.00,0.000,4,0.000,0.051,2893,3389,2134,0,0,0,0,0,0
$GC,8302,0.76,163.1,102.1,12.4,459,8306,0.00,2.17,0.00,0.000,6,0.000,0.039,2902,1981,2134,0,0,0,0,0,0
$GC,8630,0.81,201.8,73.9,7.4,496,8672,0.00,2.30,33.83,0.503,4,0.000,0.055,2902,3382,1976,0,0,0,0,0,0
$GC,8687,0.83,220.6,69.7,8.3,505,8712,0.00,2.22,17.52,0.476,6,0.000,0.046,2909,1978,1899,0,0,0,0,0,0
$GC,9040,0.83,220.6,32.6,9.4,569,9045,0.00,2.28,0.00,0.000,4,0.000,0.055,2909,3388,1897,0,0,0,0,0,0
$GC,9095,0.83,220.6,26.6,10.5,579,9102,0.00,2.28,0.00,0.000,6,0.000,0.045,2917,1976,1896,0,0,0,0,0,0
$GC,9263,0.83,220.6,10.2,9.6,610,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1976,1896,0,0,0,0,0,0
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.5,1.001967
$STATE,9379,end surface coast,CONTROL_FINISHED_OK
$STATE,9379,begin surface
$SM_CCo,9397,35.90,0.429,0,0,1575,300.24
$SM_GC,1.50,0.00,0.00,35.90,0.000,0.000,0.429,38,1970,1575,-8.14,0.37,300.24
$IRIDIUM_FIX,2059.45,-15721.74,060902,131340
$TT8_MAMPS,0.027612
$HUMID,64.25
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,24.5,37.540
$10V_AH,10.4,41.338
$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,18.925,85.750,313.100,35.900,0.000,26.158,43.982,164.547,19.500,0.000,24.445,1164.116,5658.158,392.852,2101.688,491.385,0.000,1152.399,0.000,2044.473,0.000,121.529,0.000
$DEVICE_MAMPS,226.265,63.661,767.000,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.223,358.580,1201.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,35066,631
$CAP_FILE_SIZE,101618,0
$CFSIZE,260165632,233390080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,181148,2106.261,-15743.672,28,2.0,28,9.8