version: 66.06
glider: 523
mission: 4
dive: 486
start: 6 16 113 7 14 22
data:
$ID,523
$MISSION,4
$DIVE,486
$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,-45709.105
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,070811,2108.124,-15759.707,13,1.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.4
$GPS2,071405,2108.145,-15759.748,16,0.9,16,9.8
$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,88.6,29399,-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,-75.95,0.000,2,0.000,0.000,52,1964,3382,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-5.9,12,113,9.60,2.28,-0.28,0.000,4,0.229,0.064,2392,540,3396,0,0,0,0,0,0
$GC,169,-0.74,-146.0,20.7,-18.2,24,176,0.00,2.22,0.00,0.000,6,0.000,0.036,2383,1959,3398,0,0,0,0,0,0
$GC,340,-0.74,-146.0,49.0,-14.9,55,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1959,3398,0,0,0,0,0,0
$GC,678,-0.74,-146.0,91.5,-9.6,107,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1960,3399,0,0,0,0,0,0
$GC,996,-0.74,-146.0,126.8,-11.8,137,1000,0.00,2.30,0.00,0.000,4,0.000,0.054,2383,543,3401,0,0,0,0,0,0
$GC,1069,-0.74,-146.0,135.8,-12.3,143,1073,0.00,2.15,0.00,0.000,6,0.000,0.033,2374,1967,3400,0,0,0,0,0,0
$GC,1402,-0.74,-146.0,173.6,-10.6,174,1406,0.00,2.33,0.00,0.000,4,0.000,0.054,2374,540,3401,0,0,0,0,0,0
$GC,1453,-0.74,-146.0,179.2,-10.4,178,1458,0.15,2.15,0.00,0.000,6,0.160,0.033,2404,1966,3401,0,0,0,0,0,0
$GC,1781,-0.74,-146.0,207.5,-8.2,205,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3401,0,0,0,0,0,0
$GC,2092,-0.74,-146.0,230.3,-6.0,220,2096,0.00,2.33,0.00,0.000,4,0.000,0.053,2404,539,3401,0,0,0,0,0,0
$GC,2305,-0.74,-146.0,244.9,-7.6,229,2309,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1965,3401,0,0,0,0,0,0
$GC,2629,-0.74,-146.0,269.1,-6.6,245,2634,0.00,2.33,0.00,0.000,4,0.000,0.053,2396,538,3401,0,0,0,0,0,0
$GC,2692,-0.74,-146.0,273.9,-7.1,248,2696,0.00,2.17,0.00,0.000,6,0.000,0.035,2387,1957,3401,0,0,0,0,0,0
$GC,3019,-0.74,-146.0,301.4,-9.7,264,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1958,3401,0,0,0,0,0,0
$GC,3346,-0.74,-146.0,326.3,-6.8,272,3350,0.00,2.28,0.00,0.000,4,0.000,0.054,2386,544,3401,0,0,0,0,0,0
$GC,3553,-0.74,-146.0,344.9,-9.4,276,3557,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1959,3400,0,0,0,0,0,0
$GC,3890,-0.74,-146.0,371.0,-7.5,285,3894,0.00,2.25,0.00,0.000,4,0.000,0.056,2367,3363,3398,0,0,0,0,0,0
$GC,3941,-0.74,-146.0,374.8,-7.5,286,3947,0.12,2.22,0.00,0.000,6,0.146,0.041,2399,1950,3398,0,0,0,0,0,0
$GC,4270,-0.74,-146.0,395.3,-6.8,294,4274,0.00,2.33,0.00,0.000,4,0.000,0.054,2391,3366,3396,0,0,0,0,0,0
$GC,4312,-0.74,-146.0,398.2,-6.9,295,4316,0.00,2.22,0.00,0.000,6,0.000,0.044,2391,1951,3396,0,0,0,0,0,0
$GC,4639,-0.74,-146.0,419.2,-6.1,303,4643,0.00,2.28,0.00,0.000,4,0.000,0.060,2391,547,3394,0,0,0,0,0,0
$GC,4731,-0.74,-146.0,425.2,-6.9,305,4735,0.00,2.17,0.00,0.000,6,0.000,0.038,2381,1953,3393,0,0,0,0,0,0
$GC,5051,-0.74,-146.0,449.6,-8.3,313,5055,0.00,2.25,0.00,0.000,4,0.000,0.058,2371,3364,3391,0,0,0,0,0,0
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5060,begin apogee
$GC,5068,-0.17,0.0,450.8,8.7,313,5192,0.65,0.00,121.07,0.755,6,0.125,0.000,2579,1979,2800,0,0,0,0,0,0
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5196,0.74,146.0,453.6,0.0,316,5334,0.85,2.38,126.78,0.731,4,0.072,0.060,2887,573,2203,0,0,0,0,0,0
$GC,5351,0.74,146.0,437.3,13.8,319,5355,0.00,2.28,0.00,0.000,6,0.000,0.038,2887,1980,2202,0,0,0,0,0,0
$GC,5683,0.74,146.0,388.3,14.3,327,5687,0.00,2.30,0.00,0.000,4,0.000,0.061,2887,3385,2197,0,0,0,0,0,0
$GC,5761,0.74,146.0,376.8,15.7,328,5766,0.00,2.30,0.00,0.000,6,0.000,0.048,2895,1977,2195,0,0,0,0,0,0
$GC,6092,0.74,146.0,330.9,13.2,337,6096,0.00,2.30,0.00,0.000,4,0.000,0.059,2895,3390,2193,0,0,0,0,0,0
$GC,6124,0.74,146.0,326.3,13.1,337,6130,0.00,2.30,0.00,0.000,6,0.000,0.050,2905,1975,2193,0,0,0,0,0,0
$GC,6436,0.74,146.0,288.8,12.7,347,6440,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,3387,2192,0,0,0,0,0,0
$GC,6470,0.74,146.0,284.1,14.1,348,6476,0.15,2.22,0.00,0.000,6,0.143,0.041,2873,1978,2192,0,0,0,0,0,0
$GC,6785,0.74,146.0,250.5,10.9,364,6789,0.00,2.28,0.00,0.000,4,0.000,0.060,2872,3390,2190,0,0,0,0,0,0
$GC,6820,0.74,146.0,246.5,11.7,365,6826,0.00,2.28,0.00,0.000,6,0.000,0.050,2880,1975,2190,0,0,0,0,0,0
$GC,7136,0.74,146.0,216.1,9.5,381,7140,0.00,2.25,0.00,0.000,4,0.000,0.059,2890,566,2190,0,0,0,0,0,0
$GC,7174,0.74,146.0,212.3,9.4,382,7180,0.00,2.20,0.00,0.000,6,0.000,0.038,2890,1984,2189,0,0,0,0,0,0
$GC,7499,0.74,146.0,180.2,10.3,407,7503,0.00,2.17,0.00,0.000,4,0.000,0.051,2890,3389,2189,0,0,0,0,0,0
$GC,7607,0.74,146.0,167.6,11.3,416,7614,0.00,2.28,0.00,0.000,6,0.000,0.046,2900,1971,2189,0,0,0,0,0,0
$GC,7935,0.74,146.0,134.6,9.6,447,7939,0.00,2.22,0.00,0.000,4,0.000,0.058,2910,560,2189,0,0,0,0,0,0
$GC,7967,0.74,146.0,131.1,10.2,449,7974,0.10,2.25,0.00,0.000,6,0.110,0.042,2875,1978,2188,0,0,0,0,0,0
$GC,8294,0.81,202.6,106.0,6.7,480,8345,0.00,2.22,45.85,0.530,4,0.000,0.050,2875,3397,1973,0,0,0,0,0,0
$GC,8424,0.81,202.6,96.1,9.3,491,8428,0.00,2.28,0.00,0.000,6,0.000,0.045,2881,1973,1971,0,0,0,0,0,0
$GC,8749,0.81,202.6,70.1,10.3,532,8756,0.00,2.28,0.00,0.000,4,0.000,0.058,2891,568,1970,0,0,0,0,0,0
$GC,8795,0.81,202.6,65.5,10.1,540,8803,0.00,2.22,0.00,0.000,6,0.000,0.039,2891,1973,1971,0,0,0,0,0,0
$GC,9133,0.85,237.5,40.2,7.6,601,9168,0.00,2.22,30.25,0.463,4,0.000,0.050,2891,3395,1832,0,0,0,0,0,0
$GC,9250,0.85,237.5,29.4,10.5,621,9258,0.00,2.25,0.00,0.000,6,0.000,0.041,2894,1976,1831,0,0,0,0,0,0
$GC,9419,0.85,237.5,13.8,9.5,652,9426,0.00,2.25,0.00,0.000,4,0.000,0.057,2903,579,1830,0,0,0,0,0,0
$GC,9456,0.86,242.4,10.4,8.8,658,9471,0.00,2.20,6.15,0.363,6,0.000,0.036,2903,1980,1810,0,0,0,0,0,0
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.6,1.023175
$STATE,9568,end surface coast,CONTROL_FINISHED_OK
$STATE,9568,begin surface
$SM_CCo,9586,27.40,0.420,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,27.40,0.000,0.000,0.420,36,1982,1575,-8.14,0.71,300.24
$IRIDIUM_FIX,2104.07,-15805.48,100902,040446
$TT8_MAMPS,0.028379
$HUMID,64.37
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,442.5,49.9
$24V_AH,24.5,40.342
$10V_AH,10.4,44.421
$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,18.950,98.975,330.100,27.400,0.000,28.977,40.203,146.333,19.000,0.000,16.803,1231.468,5642.316,396.918,2200.808,494.293,0.000,1194.639,0.000,2154.422,0.000,119.597,0.000
$DEVICE_MAMPS,228.566,64.428,754.728,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,460.300,390.059,1329.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38031,678
$CAP_FILE_SIZE,105946,0
$CFSIZE,260165632,231796736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,095622,2108.262,-15758.951,67,0.9,67,9.8