version: 66.06
glider: 523
mission: 4
dive: 502
start: 6 18 113 4 22 51
data:
$ID,523
$MISSION,4
$DIVE,502
$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,-46015.207
$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,29
$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
$GPS1,041253,2108.330,-15746.185,37,0.9,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.8
$GPS2,042235,2108.278,-15746.203,29,0.9,29,9.8
$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,119.0,7282,-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,-78.65,0.000,6,0.000,0.000,28,1967,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.3,13,118,9.55,2.30,0.00,0.000,4,0.222,0.049,2391,540,3396,0,0,0,0,0,0
$GC,194,-0.74,-146.0,25.0,-17.3,29,201,0.00,2.22,0.00,0.000,6,0.000,0.040,2382,1955,3398,0,0,0,0,0,0
$GC,365,-0.74,-146.0,52.7,-14.5,60,372,0.00,2.33,0.00,0.000,4,0.000,0.055,2382,547,3398,0,0,0,0,0,0
$GC,505,-0.74,-146.0,73.4,-15.2,85,511,0.00,2.20,0.00,0.000,6,0.000,0.038,2373,1967,3398,0,0,0,0,0,0
$GC,833,-0.74,-146.0,113.1,-11.4,120,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,3399,0,0,0,0,0,0
$GC,1152,-0.74,-146.0,145.4,-10.1,150,1156,0.00,2.30,0.00,0.000,4,0.000,0.054,2373,544,3400,0,0,0,0,0,0
$GC,1204,-0.74,-146.0,151.1,-10.5,154,1209,0.15,2.17,0.00,0.000,6,0.156,0.038,2403,1956,3400,0,0,0,0,0,0
$GC,1537,-0.74,-146.0,181.2,-8.8,185,1541,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,543,3400,0,0,0,0,0,0
$GC,1632,-0.74,-146.0,189.6,-8.8,193,1639,0.00,2.20,0.00,0.000,6,0.000,0.037,2396,1970,3400,0,0,0,0,0,0
$GC,1970,-0.74,-146.0,215.7,-7.9,215,1974,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,535,3400,0,0,0,0,0,0
$GC,2228,-0.74,-146.0,237.7,-7.9,226,2233,0.00,2.20,0.00,0.000,6,0.000,0.037,2386,1968,3400,0,0,0,0,0,0
$GC,2546,-0.74,-146.0,262.6,-7.4,242,2550,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,545,3400,0,0,0,0,0,0
$GC,2604,-0.74,-146.0,266.9,-7.2,244,2609,0.00,2.17,0.00,0.000,6,0.000,0.037,2376,1961,3400,0,0,0,0,0,0
$GC,2923,-0.74,-146.0,291.3,-8.8,260,2927,0.00,2.33,0.00,0.000,4,0.000,0.054,2376,542,3400,0,0,0,0,0,0
$GC,3104,-0.74,-146.0,308.1,-8.7,267,3108,0.12,2.17,0.00,0.000,6,0.158,0.037,2399,1958,3400,0,0,0,0,0,0
$GC,3430,-0.74,-146.0,328.3,-5.3,275,3434,0.00,2.30,0.00,0.000,4,0.000,0.056,2400,543,3398,0,0,0,0,0,0
$GC,3525,-0.74,-146.0,333.8,-5.6,277,3529,0.00,2.17,0.00,0.000,6,0.000,0.038,2392,1965,3397,0,0,0,0,0,0
$GC,3839,-0.74,-146.0,352.1,-6.2,285,3843,0.00,2.30,0.00,0.000,4,0.000,0.058,2391,547,3395,0,0,0,0,0,0
$GC,4098,-0.74,-146.0,375.4,-9.2,290,4103,0.00,2.17,0.00,0.000,6,0.000,0.040,2382,1956,3394,0,0,0,0,0,0
$GC,4429,-0.74,-146.0,403.0,-7.7,299,4433,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,538,3392,0,0,0,0,0,0
$GC,4497,-0.74,-146.0,408.1,-7.1,300,4501,0.00,2.20,0.00,0.000,6,0.000,0.039,2373,1957,3392,0,0,0,0,0,0
$GC,4833,-0.74,-146.0,427.9,-5.7,309,4838,0.10,2.30,0.00,0.000,4,0.168,0.059,2398,541,3389,0,0,0,0,0,0
$GC,4953,-0.74,-146.0,434.5,-5.5,311,4957,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1952,3388,0,0,0,0,0,0
$STATE,5242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5242,begin apogee
$GC,5248,-0.17,0.0,450.3,5.6,318,5372,0.60,0.00,120.78,0.759,6,0.119,0.000,2581,1953,2800,0,0,0,0,0,0
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,0.74,146.0,450.8,0.0,321,5514,0.85,2.35,126.97,0.732,4,0.086,0.054,2868,3386,2202,0,0,0,0,0,0
$GC,5609,0.74,146.0,425.0,13.8,326,5614,0.00,2.28,0.00,0.000,6,0.000,0.044,2877,1980,2198,0,0,0,0,0,0
$GC,5953,0.74,146.0,380.6,13.0,335,5957,0.00,2.28,0.00,0.000,4,0.000,0.059,2887,567,2195,0,0,0,0,0,0
$GC,5974,0.74,146.0,377.4,13.2,335,5978,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1989,2195,0,0,0,0,0,0
$GC,6311,0.74,146.0,332.9,13.0,344,6315,0.00,2.20,0.00,0.000,4,0.000,0.054,2888,3392,2193,0,0,0,0,0,0
$GC,6406,0.74,146.0,320.3,12.8,346,6410,0.00,2.20,0.00,0.000,6,0.000,0.043,2896,1977,2192,0,0,0,0,0,0
$GC,6726,0.74,146.0,285.5,10.3,357,6730,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3389,2190,0,0,0,0,0,0
$GC,6776,0.74,146.0,279.6,12.0,359,6780,0.00,2.20,0.00,0.000,6,0.000,0.040,2906,1980,2191,0,0,0,0,0,0
$GC,7091,0.74,146.0,240.6,12.6,374,7095,0.00,2.25,0.00,0.000,4,0.000,0.051,2906,3394,2189,0,0,0,0,0,0
$GC,7181,0.74,146.0,229.2,13.3,378,7186,0.12,2.22,0.00,0.000,6,0.150,0.041,2879,1970,2189,0,0,0,0,0,0
$GC,7507,0.74,148.5,195.9,8.9,396,7511,0.00,2.22,0.00,0.000,4,0.000,0.061,2887,569,2188,0,0,0,0,0,0
$GC,7571,0.74,148.5,189.8,9.8,401,7575,0.00,2.20,0.00,0.000,6,0.000,0.042,2887,1987,2187,0,0,0,0,0,0
$GC,7899,0.74,148.5,156.7,10.7,431,7903,0.00,2.20,0.00,0.000,4,0.000,0.053,2887,3389,2187,0,0,0,0,0,0
$GC,7985,0.74,148.5,146.4,11.7,438,7992,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1980,2187,0,0,0,0,0,0
$GC,8312,0.74,148.5,113.4,10.1,469,8316,0.00,2.22,0.00,0.000,4,0.000,0.051,2897,3386,2187,0,0,0,0,0,0
$GC,8375,0.74,148.5,107.8,9.4,474,8379,0.00,2.17,0.00,0.000,6,0.000,0.041,2907,1979,2187,0,0,0,0,0,0
$GC,8699,0.74,148.5,75.3,11.4,508,8706,0.00,2.25,0.00,0.000,4,0.000,0.051,2906,3384,2187,0,0,0,0,0,0
$GC,8810,0.74,148.5,62.5,11.5,528,8818,0.10,2.20,0.00,0.000,6,0.117,0.041,2879,1987,2187,0,0,0,0,0,0
$GC,9145,0.84,228.1,41.2,5.7,589,9220,0.00,2.30,67.07,0.474,4,0.000,0.057,2888,573,1869,0,0,0,0,0,0
$GC,9263,0.93,305.7,34.3,5.8,609,9337,0.15,2.20,66.53,0.459,6,0.061,0.035,2985,1979,1552,0,0,0,0,0,0
$GC,9499,0.93,305.7,4.0,13.1,651,9507,0.15,2.25,0.00,0.000,4,0.137,0.049,2942,3380,1550,0,0,0,0,0,0
$STATE,9513,end climb,SURFACE_DEPTH_REACHED
$STATE,9513,begin surface coast
$FINISH,0.8,1.023181
$STATE,9532,end surface coast,CONTROL_FINISHED_OK
$STATE,9532,begin surface
$SM_CCo,9613,0.00,0.000,0,0,1546,307.60
$SM_GC,1.50,7.47,0.00,0.00,0.027,0.000,0.000,42,1945,1546,-7.99,-0.34,307.60
$IRIDIUM_FIX,2106.38,-15740.59,120902,040447
$TT8_MAMPS,0.027612
$HUMID,64.76
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.5,41.755
$10V_AH,10.3,46.001
$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,19.375,98.600,381.350,0.000,0.000,55.760,69.209,236.294,19.000,0.000,30.340,1197.084,5731.895,401.387,2220.832,635.519,0.000,1231.836,0.000,2155.478,0.000,117.262,0.000
$DEVICE_MAMPS,222.430,60.593,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,443.726,373.128,1255.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34867,656
$CAP_FILE_SIZE,109964,0
$CFSIZE,260165632,230998016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,070400,2107.858,-15745.566,20,1.0,20,9.8