version: 66.06
glider: 523
mission: 4
dive: 500
start: 6 17 113 22 38 52
data:
$ID,523
$MISSION,4
$DIVE,500
$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,-45969.023
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,222852,2108.756,-15748.463,39,0.8,39,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.9
$GPS2,223835,2108.791,-15748.519,14,0.9,14,9.8
$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,109.9,11137,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.22,0.000,6,0.000,0.000,29,1964,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.1,13,118,9.62,2.28,0.00,0.000,4,0.225,0.048,2394,535,3397,0,0,0,0,0,0
$GC,137,-0.74,-146.0,15.6,-32.3,18,145,0.00,2.22,0.00,0.000,6,0.000,0.037,2385,1952,3398,0,0,0,0,0,0
$GC,309,-0.74,-146.0,44.0,-16.0,49,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1953,3399,0,0,0,0,0,0
$GC,641,-0.74,-146.0,92.7,-11.9,100,645,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,3365,3400,0,0,0,0,0,0
$GC,703,-0.74,-146.0,99.1,-10.7,105,707,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1952,3400,0,0,0,0,0,0
$GC,1031,-0.74,-146.0,130.3,-10.1,135,1035,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,547,3401,0,0,0,0,0,0
$GC,1128,-0.74,-146.0,142.8,-12.3,143,1135,0.10,2.17,0.00,0.000,6,0.142,0.035,2397,1953,3401,0,0,0,0,0,0
$GC,1455,-0.74,-146.0,176.2,-9.5,174,1459,0.00,2.22,0.00,0.000,4,0.000,0.051,2397,544,3402,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,185.6,-10.6,182,1554,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1962,3402,0,0,0,0,0,0
$GC,1888,-0.74,-146.0,213.1,-7.2,206,1892,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,538,3402,0,0,0,0,0,0
$GC,1989,-0.74,-146.0,222.7,-10.2,210,1994,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1966,3402,0,0,0,0,0,0
$GC,2307,-0.74,-146.0,248.8,-7.8,226,2311,0.00,2.33,0.00,0.000,4,0.000,0.052,2379,540,3402,0,0,0,0,0,0
$GC,2380,-0.74,-146.0,254.8,-8.3,229,2385,0.12,2.17,0.00,0.000,6,0.167,0.036,2401,1968,3402,0,0,0,0,0,0
$GC,2702,-0.74,-146.0,277.0,-6.6,245,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1968,3402,0,0,0,0,0,0
$GC,3011,-0.74,-146.0,292.3,-4.3,260,3015,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,537,3402,0,0,0,0,0,0
$GC,3272,-0.74,-146.0,307.2,-7.6,269,3277,0.00,2.20,0.00,0.000,6,0.000,0.038,2393,1966,3402,0,0,0,0,0,0
$GC,3604,-0.74,-146.0,331.7,-8.1,278,3608,0.00,2.30,0.00,0.000,4,0.000,0.055,2394,547,3400,0,0,0,0,0,0
$GC,3699,-0.74,-146.0,339.2,-7.2,280,3703,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1956,3399,0,0,0,0,0,0
$GC,4014,-0.74,-146.0,361.4,-7.0,288,4018,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3362,3397,0,0,0,0,0,0
$GC,4047,-0.74,-146.0,364.0,-7.0,288,4053,0.00,2.22,0.00,0.000,6,0.000,0.046,2374,1958,3397,0,0,0,0,0,0
$GC,4379,-0.74,-146.0,389.2,-7.5,297,4383,0.00,2.30,0.00,0.000,4,0.000,0.063,2374,541,3395,0,0,0,0,0,0
$GC,4531,-0.74,-146.0,401.6,-8.3,300,4535,0.15,2.20,0.00,0.000,6,0.154,0.041,2405,1956,3394,0,0,0,0,0,0
$GC,4876,-0.74,-146.0,426.3,-7.5,309,4880,0.00,2.28,0.00,0.000,4,0.000,0.060,2405,544,3391,0,0,0,0,0,0
$GC,4954,-0.74,-146.0,432.8,-7.8,310,4960,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1960,3391,0,0,0,0,0,0
$STATE,5243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5243,begin apogee
$GC,5249,-0.17,0.0,452.0,6.3,318,5374,0.57,0.00,121.12,0.759,6,0.120,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,5374,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5377,0.74,146.0,453.3,0.0,321,5515,0.85,2.42,127.07,0.735,4,0.079,0.061,2872,3379,2203,0,0,0,0,0,0
$GC,5690,0.74,146.0,415.9,13.6,328,5694,0.00,2.28,0.00,0.000,6,0.000,0.048,2881,1980,2197,0,0,0,0,0,0
$GC,6003,0.74,146.0,377.8,11.7,336,6007,0.00,2.28,0.00,0.000,4,0.000,0.059,2881,3389,2195,0,0,0,0,0,0
$GC,6031,0.74,146.0,374.4,11.6,336,6035,0.00,2.28,0.00,0.000,6,0.000,0.048,2891,1976,2194,0,0,0,0,0,0
$GC,6362,0.74,146.0,336.4,11.6,344,6366,0.00,2.28,0.00,0.000,4,0.000,0.060,2890,3388,2194,0,0,0,0,0,0
$GC,6447,0.74,146.0,324.8,14.7,346,6451,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1977,2192,0,0,0,0,0,0
$GC,6779,0.74,146.0,280.6,13.2,357,6783,0.00,2.22,0.00,0.000,4,0.000,0.058,2910,568,2191,0,0,0,0,0,0
$GC,6864,0.74,146.0,269.4,13.0,361,6869,0.12,2.20,0.00,0.000,6,0.139,0.038,2876,1988,2190,0,0,0,0,0,0
$GC,7190,0.74,146.0,237.9,9.1,377,7194,0.00,2.17,0.00,0.000,4,0.000,0.053,2875,3386,2189,0,0,0,0,0,0
$GC,7308,0.74,146.0,227.3,9.0,382,7313,0.00,2.22,0.00,0.000,6,0.000,0.043,2883,1968,2188,0,0,0,0,0,0
$GC,7627,0.74,146.0,196.6,10.4,398,7631,0.00,2.25,0.00,0.000,4,0.000,0.051,2883,3387,2188,0,0,0,0,0,0
$GC,7659,0.74,146.0,192.7,11.6,400,7667,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1980,2188,0,0,0,0,0,0
$GC,7986,0.74,146.0,157.0,9.9,431,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1980,2188,0,0,0,0,0,0
$GC,8306,0.74,146.0,125.0,10.9,461,8310,0.00,2.20,0.00,0.000,4,0.000,0.050,2893,3387,2188,0,0,0,0,0,0
$GC,8380,0.74,146.0,116.6,10.9,467,8384,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1977,2187,0,0,0,0,0,0
$GC,8707,0.77,176.0,84.1,7.8,497,8742,0.00,2.28,23.92,0.510,4,0.000,0.050,2902,3387,2081,0,0,0,0,0,0
$GC,8806,0.77,176.0,75.6,9.2,509,8812,0.00,2.20,0.00,0.000,6,0.000,0.040,2911,1979,2079,0,0,0,0,0,0
$GC,9139,0.98,346.8,54.9,1.9,570,9289,0.12,0.00,142.32,0.479,6,0.074,0.000,2991,1978,1384,0,0,0,0,0,0
$STATE,9491,end climb,SURFACE_DEPTH_REACHED
$STATE,9491,begin surface coast
$FINISH,0.7,1.023104
$STATE,9508,end surface coast,CONTROL_FINISHED_OK
$STATE,9508,begin surface
$SM_CCo,9587,0.00,0.000,0,0,1379,348.32
$SM_GC,1.41,7.62,0.00,0.00,0.024,0.000,0.000,29,1976,1379,-8.01,0.57,348.32
$IRIDIUM_FIX,2059.45,-15753.90,110902,222249
$TT8_MAMPS,0.028379
$HUMID,66.18
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.5,41.568
$10V_AH,10.3,45.800
$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,19.300,85.000,414.450,0.000,0.000,61.164,73.153,242.782,19.000,0.000,14.712,1151.066,5822.806,415.798,2132.719,640.725,0.000,1228.006,0.000,2082.850,0.000,121.179,0.000
$DEVICE_MAMPS,224.731,62.894,759.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,430.703,357.078,1188.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,34900,637
$CAP_FILE_SIZE,105800,0
$CFSIZE,260165632,231104512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,011932,2108.518,-15747.390,17,1.1,17,9.8