version: 66.06
glider: 523
mission: 4
dive: 498
start: 6 17 113 16 57 16
data:
$ID,523
$MISSION,4
$DIVE,498
$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,-45936.336
$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,21
$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
$GPS1,164728,2109.072,-15749.713,39,0.7,39,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.4
$GPS2,165659,2109.065,-15749.763,17,1.0,17,9.8
$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,107.2,13271,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.80,0.000,2,0.000,0.000,33,1973,3376,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.3,12,113,9.60,2.28,-0.40,0.000,4,0.225,0.063,2392,534,3396,0,0,0,0,0,0
$GC,142,-0.74,-146.0,16.8,-27.6,19,150,0.00,2.25,0.00,0.000,6,0.000,0.038,2384,1959,3397,0,0,0,0,0,0
$GC,311,-0.74,-146.0,45.3,-15.6,50,318,0.00,2.30,0.00,0.000,4,0.000,0.054,2384,547,3397,0,0,0,0,0,0
$GC,346,-0.74,-146.0,51.2,-16.1,56,353,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1954,3397,0,0,0,0,0,0
$GC,687,-0.74,-146.0,90.3,-10.5,109,691,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,534,3398,0,0,0,0,0,0
$GC,937,-0.74,-146.0,121.9,-13.5,131,944,0.10,2.20,0.00,0.000,6,0.143,0.034,2396,1961,3399,0,0,0,0,0,0
$GC,1265,-0.74,-146.0,155.7,-9.1,162,1269,0.00,2.28,0.00,0.000,4,0.000,0.053,2397,531,3400,0,0,0,0,0,0
$GC,1352,-0.74,-146.0,164.3,-9.5,169,1359,0.00,2.20,0.00,0.000,6,0.000,0.035,2388,1954,3400,0,0,0,0,0,0
$GC,1679,-0.74,-146.0,193.1,-9.0,200,1683,0.00,2.22,0.00,0.000,4,0.000,0.052,2388,544,3400,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,202.7,-10.6,207,1776,0.00,2.17,0.00,0.000,6,0.000,0.034,2379,1968,3401,0,0,0,0,0,0
$GC,2091,-0.74,-146.0,231.5,-8.9,222,2095,0.00,2.22,0.00,0.000,4,0.000,0.056,2369,3361,3400,0,0,0,0,0,0
$GC,2153,-0.74,-146.0,237.7,-9.6,225,2158,0.12,2.20,0.00,0.000,6,0.150,0.042,2401,1946,3401,0,0,0,0,0,0
$GC,2480,-0.74,-146.0,262.7,-6.8,241,2484,0.00,2.20,0.00,0.000,4,0.000,0.054,2402,541,3401,0,0,0,0,0,0
$GC,2712,-0.74,-146.0,280.3,-8.3,251,2716,0.00,2.17,0.00,0.000,6,0.000,0.035,2394,1963,3401,0,0,0,0,0,0
$GC,3030,-0.74,-146.0,303.8,-7.0,265,3034,0.00,2.25,0.00,0.000,4,0.000,0.058,2383,3366,3401,0,0,0,0,0,0
$GC,3058,-0.74,-146.0,306.2,-7.7,265,3062,0.00,2.20,0.00,0.000,6,0.000,0.042,2383,1957,3401,0,0,0,0,0,0
$GC,3390,-0.74,-146.0,327.5,-6.4,273,3394,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,548,3401,0,0,0,0,0,0
$GC,3648,-0.74,-146.0,347.9,-7.9,278,3653,0.00,2.17,0.00,0.000,6,0.000,0.038,2373,1965,3399,0,0,0,0,0,0
$GC,3980,-0.74,-146.0,374.0,-7.8,287,3984,0.00,2.30,0.00,0.000,4,0.000,0.057,2373,547,3397,0,0,0,0,0,0
$GC,4192,-0.74,-146.0,392.2,-9.5,291,4198,0.15,2.17,0.00,0.000,6,0.156,0.039,2404,1958,3396,0,0,0,0,0,0
$GC,4526,-0.74,-146.0,413.1,-6.0,300,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1957,3395,0,0,0,0,0,0
$GC,4849,-0.74,-146.0,430.6,-5.5,308,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1958,3392,0,0,0,0,0,0
$STATE,5171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5178,-0.17,0.0,450.2,6.1,316,5303,0.55,0.00,121.28,0.755,6,0.117,0.000,2583,1958,2800,0,0,0,0,0,0
$STATE,5303,end apogee,CONTROL_FINISHED_OK
$STATE,5304,begin climb
$GC,5306,0.74,146.0,451.9,0.0,319,5445,0.85,2.40,126.85,0.732,4,0.077,0.054,2876,3376,2203,0,0,0,0,0,0
$GC,5501,0.74,146.0,432.6,12.5,323,5505,0.00,2.30,0.00,0.000,6,0.000,0.047,2885,1980,2199,0,0,0,0,0,0
$GC,5843,0.74,146.0,386.5,13.6,332,5847,0.00,2.30,0.00,0.000,4,0.000,0.058,2885,3385,2196,0,0,0,0,0,0
$GC,5938,0.74,146.0,373.0,14.0,334,5942,0.00,2.30,0.00,0.000,6,0.000,0.048,2894,1970,2194,0,0,0,0,0,0
$GC,6256,0.74,146.0,331.6,13.4,342,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1970,2193,0,0,0,0,0,0
$GC,6562,0.74,146.0,290.8,13.1,351,6566,0.00,2.28,0.00,0.000,4,0.000,0.059,2905,562,2192,0,0,0,0,0,0
$GC,6606,0.74,146.0,285.2,12.5,353,6610,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1978,2191,0,0,0,0,0,0
$GC,6928,0.74,146.0,244.4,11.9,369,6932,0.00,2.20,0.00,0.000,4,0.000,0.053,2905,3388,2191,0,0,0,0,0,0
$GC,7006,0.74,146.0,234.1,12.4,372,7012,0.12,2.22,0.00,0.000,6,0.151,0.039,2880,1967,2190,0,0,0,0,0,0
$GC,7322,0.74,146.0,205.2,9.1,388,7326,0.00,2.28,0.00,0.000,4,0.000,0.051,2880,3394,2189,0,0,0,0,0,0
$GC,7377,0.74,146.0,199.5,10.3,390,7382,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1980,2188,0,0,0,0,0,0
$GC,7704,0.74,146.0,167.2,11.4,421,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1980,2188,0,0,0,0,0,0
$GC,8024,0.74,146.0,134.9,9.6,451,8028,0.00,2.25,0.00,0.000,4,0.000,0.059,2899,573,2188,0,0,0,0,0,0
$GC,8076,0.74,146.0,130.2,9.0,455,8080,0.00,2.20,0.00,0.000,6,0.000,0.042,2899,1994,2188,0,0,0,0,0,0
$GC,8403,0.74,146.0,95.7,10.3,485,8407,0.00,2.17,0.00,0.000,4,0.000,0.052,2898,3386,2188,0,0,0,0,0,0
$GC,8488,0.74,146.0,86.7,10.7,492,8493,0.12,2.20,0.00,0.000,6,0.144,0.041,2873,1977,2188,0,0,0,0,0,0
$GC,8815,0.87,255.6,65.9,4.5,544,8916,0.12,2.35,90.00,0.495,4,0.074,0.058,2957,3382,1757,0,0,0,0,0,0
$GC,8973,0.87,255.6,50.3,13.9,571,8979,0.15,2.28,0.00,0.000,6,0.133,0.049,2923,1984,1756,0,0,0,0,0,0
$GC,9299,0.87,255.6,16.5,9.5,632,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1984,1756,0,0,0,0,0,0
$STATE,9431,end climb,SURFACE_DEPTH_REACHED
$STATE,9432,begin surface coast
$FINISH,0.6,1.023153
$STATE,9462,end surface coast,CONTROL_FINISHED_OK
$STATE,9462,begin surface
$SM_CCo,9480,21.23,0.418,0,0,1574,300.24
$SM_GC,1.70,0.00,0.00,21.23,0.000,0.000,0.418,51,1973,1574,-8.09,0.45,300.24
$IRIDIUM_FIX,2059.45,-15733.30,110902,161625
$TT8_MAMPS,0.028379
$HUMID,65.98
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,41.367
$10V_AH,10.3,45.604
$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,19.200,80.675,338.125,21.225,0.000,47.787,82.323,236.151,19.000,0.000,17.535,1202.139,5647.479,391.492,2202.175,627.235,0.000,1177.000,0.000,2149.920,0.000,119.649,0.000
$DEVICE_MAMPS,224.731,62.894,755.495,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,449.100,369.742,1284.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38130,662
$CAP_FILE_SIZE,105241,0
$CFSIZE,260165632,231202816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,193652,2108.865,-15749.070,35,0.9,35,9.8