version: 66.06
glider: 523
mission: 4
dive: 503
start: 6 18 113 7 20 33
data:
$ID,523
$MISSION,4
$DIVE,503
$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,-46035.43
$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,31
$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
$GPS1,070400,2107.858,-15745.566,20,1.0,20,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.3
$GPS2,072017,2107.893,-15745.874,19,1.0,19,9.8
$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,117.2,6397,-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,-75.65,0.000,2,0.000,0.000,37,1937,3349,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,119,9.62,2.30,-1.05,0.000,4,0.226,0.066,2394,547,3396,0,0,0,0,0,0
$GC,261,-0.74,-146.0,35.4,-17.2,42,269,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1950,3398,0,0,0,0,0,0
$GC,598,-0.74,-146.0,84.6,-12.9,100,605,0.00,2.25,0.00,0.000,4,0.000,0.054,2386,554,3398,0,0,0,0,0,0
$GC,658,-0.74,-146.0,91.8,-12.8,105,662,0.00,2.20,0.00,0.000,6,0.000,0.039,2377,1972,3398,0,0,0,0,0,0
$GC,991,-0.74,-146.0,129.6,-12.1,136,995,0.00,2.33,0.00,0.000,4,0.000,0.054,2377,544,3399,0,0,0,0,0,0
$GC,1069,-0.74,-146.0,139.5,-12.2,143,1077,0.12,2.20,0.00,0.000,6,0.166,0.038,2399,1966,3399,0,0,0,0,0,0
$GC,1405,-0.74,-146.0,167.4,-7.5,174,1409,0.00,2.28,0.00,0.000,4,0.000,0.054,2399,551,3399,0,0,0,0,0,0
$GC,1447,-0.74,-146.0,170.7,-7.9,177,1451,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1968,3399,0,0,0,0,0,0
$GC,1776,-0.74,-146.0,203.1,-10.5,207,1781,0.00,2.28,0.00,0.000,4,0.000,0.054,2391,547,3400,0,0,0,0,0,0
$GC,1928,-0.74,-146.0,217.7,-8.0,214,1932,0.00,2.17,0.00,0.000,6,0.000,0.037,2381,1963,3399,0,0,0,0,0,0
$GC,2258,-0.74,-146.0,242.9,-7.4,230,2262,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,552,3399,0,0,0,0,0,0
$GC,2400,-0.74,-146.0,255.0,-8.8,236,2407,0.00,2.17,0.00,0.000,6,0.000,0.036,2372,1970,3399,0,0,0,0,0,0
$GC,2725,-0.74,-146.0,278.5,-6.8,252,2730,0.10,2.22,0.00,0.000,4,0.170,0.056,2389,3361,3399,0,0,0,0,0,0
$GC,2736,-0.74,-146.0,279.4,-6.8,252,2742,0.00,2.22,0.00,0.000,6,0.000,0.046,2389,1956,3399,0,0,0,0,0,0
$GC,3055,-0.74,-146.0,299.2,-6.6,268,3059,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,545,3399,0,0,0,0,0,0
$GC,3312,-0.74,-146.0,321.0,-7.8,274,3318,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1965,3398,0,0,0,0,0,0
$GC,3644,-0.74,-146.0,343.3,-6.4,283,3648,0.00,2.28,0.00,0.000,4,0.000,0.054,2379,547,3396,0,0,0,0,0,0
$GC,3902,-0.74,-146.0,360.6,-6.4,288,3908,0.12,2.17,0.00,0.000,6,0.164,0.038,2403,1961,3395,0,0,0,0,0,0
$GC,4236,-0.74,-146.0,381.4,-6.4,297,4240,0.00,2.30,0.00,0.000,4,0.000,0.056,2403,541,3393,0,0,0,0,0,0
$GC,4387,-0.74,-146.0,393.5,-8.9,300,4391,0.00,2.20,0.00,0.000,6,0.000,0.039,2395,1956,3391,0,0,0,0,0,0
$GC,4733,-0.74,-146.0,419.9,-7.5,309,4738,0.00,2.30,0.00,0.000,4,0.000,0.057,2395,548,3390,0,0,0,0,0,0
$GC,4993,-0.74,-146.0,438.7,-6.4,314,4997,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1958,3388,0,0,0,0,0,0
$STATE,5202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5202,begin apogee
$GC,5209,-0.17,0.0,451.1,5.8,319,5332,0.62,0.00,120.78,0.759,6,0.118,0.000,2584,1958,2800,0,0,0,0,0,0
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5336,0.74,146.0,451.2,0.0,322,5474,0.85,2.45,126.93,0.732,4,0.084,0.058,2873,3388,2202,0,0,0,0,0,0
$GC,5548,0.74,146.0,424.9,15.2,327,5552,0.00,2.33,0.00,0.000,6,0.000,0.044,2883,1976,2199,0,0,0,0,0,0
$GC,5873,0.74,146.0,377.3,14.3,335,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1976,2196,0,0,0,0,0,0
$GC,6198,0.74,146.0,335.0,12.9,343,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1976,2194,0,0,0,0,0,0
$GC,6503,0.74,146.0,296.7,12.4,351,6507,0.00,2.30,0.00,0.000,4,0.000,0.066,2893,572,2192,0,0,0,0,0,0
$GC,6555,0.74,146.0,290.0,13.1,353,6559,0.00,2.20,0.00,0.000,6,0.000,0.041,2894,1990,2192,0,0,0,0,0,0
$GC,6876,0.74,146.0,249.0,12.9,369,6880,0.00,2.22,0.00,0.000,4,0.000,0.060,2893,3386,2191,0,0,0,0,0,0
$GC,6954,0.74,146.0,238.5,13.7,372,6958,0.00,2.22,0.00,0.000,6,0.000,0.042,2900,1979,2189,0,0,0,0,0,0
$GC,7270,0.75,160.6,207.4,8.4,387,7286,0.00,2.30,11.52,0.581,4,0.000,0.057,2911,571,2144,0,0,0,0,0,0
$GC,7343,0.75,160.6,201.0,9.5,389,7347,0.00,2.20,0.00,0.000,6,0.000,0.037,2912,1995,2142,0,0,0,0,0,0
$GC,7675,0.75,160.6,162.4,12.5,420,7679,0.00,2.20,0.00,0.000,4,0.000,0.053,2912,3392,2141,0,0,0,0,0,0
$GC,7818,0.75,160.6,144.5,12.8,432,7824,0.10,2.25,0.00,0.000,6,0.121,0.041,2887,1980,2141,0,0,0,0,0,0
$GC,8145,0.76,161.8,113.8,9.0,463,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2140,0,0,0,0,0,0
$GC,8465,0.79,192.4,87.6,7.8,493,8501,0.00,2.25,27.70,0.512,4,0.000,0.051,2886,3378,2014,0,0,0,0,0,0
$GC,8549,0.79,192.4,80.2,9.5,500,8553,0.00,2.17,0.00,0.000,6,0.000,0.041,2894,1979,2013,0,0,0,0,0,0
$GC,8878,0.86,250.2,53.3,6.6,560,8936,0.00,2.30,49.70,0.482,4,0.000,0.054,2893,569,1779,0,0,0,0,0,0
$GC,8968,0.95,319.5,47.8,6.2,575,9038,0.15,2.20,59.60,0.470,6,0.060,0.033,2993,1981,1496,0,0,0,0,0,0
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,0.5,1.023335
$STATE,9302,end surface coast,CONTROL_FINISHED_OK
$STATE,9302,begin surface
$SM_CCo,9381,0.00,0.000,0,0,1488,321.83
$SM_GC,1.38,7.72,0.00,0.00,0.035,0.000,0.000,52,1982,1488,-7.98,0.76,321.83
$IRIDIUM_FIX,2104.07,-15750.02,120902,070746
$TT8_MAMPS,0.027612
$HUMID,66.69
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.5,41.864
$10V_AH,10.3,46.101
$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,19.425,80.725,396.225,0.000,0.000,111.634,139.667,386.637,19.250,0.000,19.594,1163.851,5655.102,406.404,2194.958,930.104,0.000,1218.899,0.000,2146.873,0.000,121.195,0.000
$DEVICE_MAMPS,226.265,65.962,759.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,431.027,359.412,1228.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34925,636
$CAP_FILE_SIZE,111716,0
$CFSIZE,260165632,230940672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,095823,2107.407,-15745.496,53,0.9,53,9.8