version: 66.06
glider: 523
mission: 4
dive: 491
start: 6 16 113 21 17 16
data:
$ID,523
$MISSION,4
$DIVE,491
$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,-45795.277
$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,20
$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
$GPS1,211100,2108.974,-15755.744,26,1.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.2
$GPS2,211659,2109.002,-15755.852,13,2.0,13,9.8
$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,95.0,23114,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.70,0.000,6,0.000,0.000,25,1950,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.3,13,118,9.65,2.30,0.00,0.000,4,0.225,0.052,2393,540,3397,0,0,0,0,0,0
$GC,174,-0.74,-146.0,22.1,-19.1,25,181,0.00,2.22,0.00,0.000,6,0.000,0.036,2385,1958,3398,0,0,0,0,0,0
$GC,345,-0.74,-146.0,51.7,-15.4,56,352,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,3362,3399,0,0,0,0,0,0
$GC,388,-0.74,-146.0,58.5,-14.4,63,394,0.00,2.22,0.00,0.000,6,0.000,0.043,2375,1955,3399,0,0,0,0,0,0
$GC,723,-0.74,-146.0,101.9,-11.0,108,727,0.00,2.25,0.00,0.000,4,0.000,0.057,2375,544,3400,0,0,0,0,0,0
$GC,973,-0.74,-146.0,131.7,-12.7,130,981,0.10,2.17,0.00,0.000,6,0.143,0.034,2396,1959,3401,0,0,0,0,0,0
$GC,1300,-0.74,-146.0,166.2,-10.0,161,1304,0.00,2.30,0.00,0.000,4,0.000,0.051,2396,542,3402,0,0,0,0,0,0
$GC,1418,-0.74,-146.0,177.6,-10.5,171,1422,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1963,3402,0,0,0,0,0,0
$GC,1753,-0.74,-146.0,203.3,-7.2,200,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1963,3402,0,0,0,0,0,0
$GC,2062,-0.74,-146.0,224.7,-7.1,215,2067,0.00,2.33,0.00,0.000,4,0.000,0.052,2388,537,3402,0,0,0,0,0,0
$GC,2249,-0.74,-146.0,239.6,-7.9,223,2253,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1967,3402,0,0,0,0,0,0
$GC,2580,-0.74,-146.0,265.9,-8.6,239,2584,0.00,2.30,0.00,0.000,4,0.000,0.053,2378,545,3402,0,0,0,0,0,0
$GC,2613,-0.74,-146.0,269.3,-9.9,240,2617,0.12,2.15,0.00,0.000,6,0.165,0.036,2401,1962,3402,0,0,0,0,0,0
$GC,2929,-0.74,-146.0,293.8,-7.2,255,2933,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,546,3402,0,0,0,0,0,0
$GC,3150,-0.74,-146.0,310.6,-7.6,262,3154,0.00,2.15,0.00,0.000,6,0.000,0.037,2394,1959,3402,0,0,0,0,0,0
$GC,3475,-0.74,-146.0,332.3,-6.2,270,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1959,3401,0,0,0,0,0,0
$GC,3801,-0.74,-146.0,354.7,-7.1,278,3806,0.00,2.22,0.00,0.000,4,0.000,0.057,2383,3359,3400,0,0,0,0,0,0
$GC,3926,-0.74,-146.0,364.4,-7.7,280,3930,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1956,3400,0,0,0,0,0,0
$GC,4260,-0.74,-146.0,385.8,-6.3,288,4264,0.00,2.28,0.00,0.000,4,0.000,0.060,2383,538,3397,0,0,0,0,0,0
$GC,4518,-0.74,-146.0,404.9,-7.1,293,4524,0.00,2.17,0.00,0.000,6,0.000,0.039,2374,1960,3395,0,0,0,0,0,0
$GC,4850,-0.74,-146.0,424.9,-5.7,302,4857,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,541,3394,0,0,0,0,0,0
$GC,5110,-0.74,-146.0,443.4,-7.3,307,5115,0.12,2.17,0.00,0.000,6,0.166,0.040,2397,1957,3392,0,0,0,0,0,0
$STATE,5236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5237,begin apogee
$GC,5243,-0.17,0.0,452.1,6.8,310,5367,0.57,0.00,121.28,0.755,6,0.114,0.000,2584,1958,2801,0,0,0,0,0,0
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5371,0.74,146.0,453.1,0.0,313,5509,0.82,2.42,126.85,0.730,4,0.071,0.058,2875,3379,2203,0,0,0,0,0,0
$GC,5578,0.74,146.0,426.7,16.1,317,5583,0.00,2.30,0.00,0.000,6,0.000,0.046,2885,1980,2200,0,0,0,0,0,0
$GC,5909,0.74,146.0,379.1,13.6,326,5914,0.00,2.30,0.00,0.000,4,0.000,0.065,2895,565,2196,0,0,0,0,0,0
$GC,5937,0.74,146.0,375.1,13.8,326,5941,0.00,2.22,0.00,0.000,6,0.000,0.040,2895,1986,2195,0,0,0,0,0,0
$GC,6273,0.74,146.0,327.8,13.6,335,6277,0.00,2.25,0.00,0.000,4,0.000,0.063,2895,3389,2194,0,0,0,0,0,0
$GC,6414,0.74,146.0,307.7,14.7,338,6418,0.00,2.22,0.00,0.000,6,0.000,0.046,2905,1979,2192,0,0,0,0,0,0
$GC,6736,0.74,146.0,266.0,12.5,352,6740,0.00,2.28,0.00,0.000,4,0.000,0.067,2914,570,2191,0,0,0,0,0,0
$GC,6753,0.74,146.0,263.8,13.2,353,6757,0.12,2.22,0.00,0.000,6,0.144,0.045,2881,1981,2191,0,0,0,0,0,0
$GC,7085,0.74,146.0,229.8,9.5,369,7089,0.00,2.25,0.00,0.000,4,0.000,0.063,2882,3386,2190,0,0,0,0,0,0
$GC,7168,0.74,146.0,221.4,10.0,372,7174,0.00,2.22,0.00,0.000,6,0.000,0.048,2887,1981,2189,0,0,0,0,0,0
$GC,7489,0.74,146.0,188.8,11.3,392,7493,0.00,2.28,0.00,0.000,4,0.000,0.060,2888,3386,2188,0,0,0,0,0,0
$GC,7573,0.74,146.0,178.1,12.1,399,7577,0.00,2.22,0.00,0.000,6,0.000,0.049,2896,1982,2188,0,0,0,0,0,0
$GC,7901,0.74,146.0,141.5,10.8,429,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1982,2187,0,0,0,0,0,0
$GC,8230,0.74,146.0,106.4,10.8,460,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1981,2187,0,0,0,0,0,0
$GC,8555,0.76,161.6,75.1,8.4,496,8574,0.00,0.00,11.90,0.469,6,0.000,0.000,2896,1982,2140,0,0,0,0,0,0
$GC,8903,0.87,256.8,51.7,5.1,559,8995,0.00,2.40,81.05,0.481,4,0.000,0.064,2905,558,1751,0,0,0,0,0,0
$GC,9090,0.90,279.0,37.8,8.1,592,9121,0.00,2.28,20.35,0.444,6,0.000,0.039,2904,1977,1660,0,0,0,0,0,0
$GC,9443,0.94,313.1,8.5,7.6,657,9484,0.10,2.35,29.73,0.430,4,0.087,0.063,2977,3390,1521,0,0,0,0,0,0
$STATE,9490,end climb,SURFACE_DEPTH_REACHED
$STATE,9490,begin surface coast
$FINISH,0.5,1.023199
$STATE,9514,end surface coast,CONTROL_FINISHED_OK
$STATE,9514,begin surface
$SM_CCo,9595,0.00,0.000,0,0,1517,314.71
$SM_GC,1.30,7.60,0.00,0.00,0.026,0.000,0.000,32,1950,1517,-7.99,-0.17,314.71
$IRIDIUM_FIX,2059.45,-15758.18,100902,181847
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.5,40.758
$10V_AH,10.4,44.913
$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,19.225,81.250,391.150,0.000,0.000,33.436,42.423,151.539,19.250,0.000,14.376,1200.385,5586.868,405.977,2273.170,482.436,0.000,1255.781,0.000,2224.335,0.000,126.182,0.000
$DEVICE_MAMPS,224.731,66.729,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,451.330,373.359,1291.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38097,668
$CAP_FILE_SIZE,102497,0
$CFSIZE,260165632,231550976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160613,235818,2109.201,-15754.893,30,1.6,30,9.8