version: 66.06
glider: 523
mission: 4
dive: 506
start: 6 18 113 16 6 0
data:
$ID,523
$MISSION,4
$DIVE,506
$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,-46088.438
$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,27
$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
$GPS1,155943,2106.866,-15744.100,17,0.7,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.4
$GPS2,160543,2106.840,-15744.098,16,0.7,16,9.8
$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,123.2,2786,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,2,0.000,0.000,49,1972,3363,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.2,12,113,9.70,2.38,-0.68,0.000,4,0.230,0.071,2395,547,3397,0,0,0,0,0,0
$GC,257,-0.74,-146.0,34.0,-17.3,41,263,0.00,2.20,0.00,0.000,6,0.000,0.038,2387,1960,3398,0,0,0,0,0,0
$GC,593,-0.74,-146.0,81.7,-12.1,102,597,0.00,2.28,0.00,0.000,4,0.000,0.054,2387,540,3399,0,0,0,0,0,0
$GC,844,-0.74,-146.0,114.9,-13.2,124,855,0.00,2.20,0.00,0.000,6,0.000,0.035,2378,1965,3400,0,0,0,0,0,0
$GC,1173,-0.74,-146.0,151.3,-10.8,155,1177,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,536,3400,0,0,0,0,0,0
$GC,1424,-0.74,-146.0,177.0,-8.8,177,1431,0.10,2.20,0.00,0.000,6,0.140,0.034,2399,1965,3401,0,0,0,0,0,0
$GC,1748,-0.74,-146.0,203.2,-6.8,206,1752,0.00,2.28,0.00,0.000,4,0.000,0.051,2400,544,3401,0,0,0,0,0,0
$GC,1977,-0.74,-146.0,224.0,-9.3,216,1981,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1957,3402,0,0,0,0,0,0
$GC,2295,-0.74,-146.0,253.7,-9.2,231,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1956,3402,0,0,0,0,0,0
$GC,2602,-0.74,-146.0,277.1,-7.8,246,2606,0.00,2.30,0.00,0.000,4,0.000,0.052,2392,545,3402,0,0,0,0,0,0
$GC,2792,-0.74,-146.0,292.9,-7.9,254,2798,0.00,2.17,0.00,0.000,6,0.000,0.035,2382,1961,3401,0,0,0,0,0,0
$GC,3106,-0.74,-146.0,317.4,-8.4,265,3110,0.00,2.25,0.00,0.000,4,0.000,0.055,2372,3369,3402,0,0,0,0,0,0
$GC,3173,-0.74,-146.0,323.4,-8.8,266,3178,0.10,2.25,0.00,0.000,6,0.155,0.044,2397,1954,3401,0,0,0,0,0,0
$GC,3513,-0.74,-146.0,351.4,-8.3,275,3517,0.00,2.28,0.00,0.000,4,0.000,0.055,2398,539,3400,0,0,0,0,0,0
$GC,3692,-0.74,-146.0,365.8,-7.8,279,3696,0.00,2.17,0.00,0.000,6,0.000,0.036,2390,1962,3399,0,0,0,0,0,0
$GC,4011,-0.74,-146.0,383.5,-5.6,287,4015,0.00,2.30,0.00,0.000,4,0.000,0.055,2389,541,3398,0,0,0,0,0,0
$GC,4095,-0.74,-146.0,389.2,-7.4,288,4100,0.00,2.20,0.00,0.000,6,0.000,0.038,2380,1965,3397,0,0,0,0,0,0
$GC,4426,-0.74,-146.0,412.9,-7.3,297,4430,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,541,3395,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,424.1,-6.3,300,4594,0.12,2.17,0.00,0.000,6,0.160,0.039,2403,1959,3394,0,0,0,0,0,0
$GC,4921,-0.74,-146.0,439.8,-5.2,308,4928,0.00,2.30,0.00,0.000,4,0.000,0.058,2404,548,3392,0,0,0,0,0,0
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5088,-0.17,0.0,450.1,7.1,311,5212,0.55,0.00,121.50,0.757,6,0.117,0.000,2576,1983,2800,0,0,0,0,0,0
$STATE,5213,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5216,0.74,146.0,452.2,0.0,314,5353,0.90,2.38,126.90,0.734,4,0.079,0.054,2880,3385,2203,0,0,0,0,0,0
$GC,5375,0.74,146.0,435.8,12.7,318,5379,0.00,2.33,0.00,0.000,6,0.000,0.043,2890,1973,2201,0,0,0,0,0,0
$GC,5718,0.74,146.0,391.3,13.0,327,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1973,2196,0,0,0,0,0,0
$GC,6043,0.74,146.0,347.9,13.3,335,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1973,2194,0,0,0,0,0,0
$GC,6368,0.74,146.0,309.2,11.3,343,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1973,2192,0,0,0,0,0,0
$GC,6675,0.74,146.0,275.3,11.4,355,6679,0.00,2.28,0.00,0.000,4,0.000,0.058,2890,3383,2191,0,0,0,0,0,0
$GC,6790,0.74,146.0,261.4,12.4,360,6794,0.00,2.25,0.00,0.000,6,0.000,0.047,2898,1976,2190,0,0,0,0,0,0
$GC,7116,0.74,146.0,228.1,11.0,376,7120,0.00,2.28,0.00,0.000,4,0.000,0.064,2909,570,2189,0,0,0,0,0,0
$GC,7161,0.74,146.0,223.0,11.0,378,7166,0.12,2.20,0.00,0.000,6,0.137,0.039,2874,1992,2189,0,0,0,0,0,0
$GC,7486,0.74,146.0,192.7,9.0,397,7490,0.00,2.22,0.00,0.000,4,0.000,0.058,2874,3389,2189,0,0,0,0,0,0
$GC,7602,0.74,146.0,181.1,10.2,407,7606,0.00,2.22,0.00,0.000,6,0.000,0.045,2881,1979,2188,0,0,0,0,0,0
$GC,7929,0.74,146.0,150.7,9.1,437,7933,0.00,2.25,0.00,0.000,4,0.000,0.062,2891,568,2188,0,0,0,0,0,0
$GC,7991,0.74,146.0,145.1,9.1,442,7995,0.00,2.20,0.00,0.000,6,0.000,0.038,2891,1986,2188,0,0,0,0,0,0
$GC,8320,0.74,146.0,114.6,9.1,472,8324,0.00,2.22,0.00,0.000,4,0.000,0.058,2891,3385,2187,0,0,0,0,0,0
$GC,8393,0.74,146.0,107.8,9.3,478,8397,0.00,2.20,0.00,0.000,6,0.000,0.045,2899,1980,2188,0,0,0,0,0,0
$GC,8720,0.74,146.0,78.6,9.4,509,8725,0.00,2.28,0.00,0.000,4,0.000,0.057,2899,3390,2188,0,0,0,0,0,0
$GC,8744,0.74,146.0,76.3,9.2,513,8750,0.00,2.25,0.00,0.000,6,0.000,0.048,2907,1981,2188,0,0,0,0,0,0
$GC,9075,0.79,186.8,50.1,7.3,574,9117,0.00,2.30,32.97,0.475,4,0.000,0.061,2910,569,2037,0,0,0,0,0,0
$GC,9212,0.83,222.4,39.8,7.6,598,9248,0.00,2.20,31.15,0.459,6,0.000,0.034,2910,1977,1893,0,0,0,0,0,0
$GC,9568,0.83,222.4,6.5,9.2,664,9576,0.00,2.28,0.00,0.000,4,0.000,0.061,2910,3376,1890,0,0,0,0,0,0
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,0.7,1.023409
$STATE,9627,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9648,36.72,0.423,0,0,1575,300.24
$SM_GC,1.48,0.00,0.00,36.72,0.000,0.000,0.423,35,1947,1575,-8.14,-0.28,300.24
$IRIDIUM_FIX,2054.83,-15744.48,120902,131307
$TT8_MAMPS,0.027612
$HUMID,64.49
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.5,42.137
$10V_AH,10.4,46.412
$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,19.150,85.550,312.525,36.725,0.000,39.636,41.712,143.531,19.250,0.000,16.720,1240.110,5638.058,394.766,2275.360,493.282,0.000,1193.313,0.000,2233.278,0.000,117.268,0.000
$DEVICE_MAMPS,230.100,71.331,757.029,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,457.266,390.981,1317.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38121,674
$CAP_FILE_SIZE,103203,0
$CFSIZE,260165632,230785024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,184928,2106.555,-15743.365,83,0.8,83,9.8