version: 66.06
glider: 523
mission: 4
dive: 532
start: 6 21 113 22 40 28
data:
$ID,523
$MISSION,4
$DIVE,532
$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,-46592.594
$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,25
$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
$GPS1,223405,2108.663,-15801.773,35,0.8,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.0
$GPS2,224011,2108.752,-15801.867,16,0.8,16,9.8
$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,89.6,33190,-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,-77.43,0.000,6,0.000,0.000,34,1981,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.7,13,118,9.60,2.15,0.00,0.000,4,0.224,0.044,2382,3371,3394,0,0,0,0,0,0
$GC,127,-0.74,-146.0,12.8,-27.4,16,135,0.00,2.28,0.00,0.000,6,0.000,0.043,2382,1960,3395,0,0,0,0,0,0
$GC,299,-0.74,-146.0,42.1,-17.1,47,304,0.00,2.25,0.00,0.000,4,0.000,0.058,2382,547,3395,0,0,0,0,0,0
$GC,389,-0.74,-146.0,57.9,-16.6,63,394,0.00,2.20,0.00,0.000,6,0.000,0.037,2373,1969,3395,0,0,0,0,0,0
$GC,718,-0.74,-146.0,102.8,-11.8,107,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1969,3397,0,0,0,0,0,0
$GC,1037,-0.74,-146.0,135.4,-10.5,137,1041,0.00,2.28,0.00,0.000,4,0.000,0.052,2373,542,3398,0,0,0,0,0,0
$GC,1133,-0.74,-146.0,146.6,-11.3,145,1138,0.15,2.17,0.00,0.000,6,0.157,0.035,2403,1962,3398,0,0,0,0,0,0
$GC,1465,-0.74,-146.0,171.7,-7.0,176,1469,0.00,2.28,0.00,0.000,4,0.000,0.052,2403,544,3399,0,0,0,0,0,0
$GC,1551,-0.74,-146.0,178.9,-8.1,183,1555,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1963,3399,0,0,0,0,0,0
$GC,1886,-0.74,-146.0,205.8,-8.1,211,1890,0.00,2.22,0.00,0.000,4,0.000,0.054,2384,3358,3399,0,0,0,0,0,0
$GC,1896,-0.74,-146.0,206.7,-8.0,211,1902,0.00,2.20,0.00,0.000,6,0.000,0.042,2384,1955,3399,0,0,0,0,0,0
$GC,2214,-0.74,-146.0,232.7,-8.3,227,2218,0.00,2.25,0.00,0.000,4,0.000,0.055,2384,535,3399,0,0,0,0,0,0
$GC,2428,-0.74,-146.0,250.2,-7.9,236,2434,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1961,3399,0,0,0,0,0,0
$GC,2748,-0.74,-146.0,275.1,-8.3,252,2752,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,547,3399,0,0,0,0,0,0
$GC,3005,-0.74,-146.0,301.1,-10.6,263,3012,0.12,2.17,0.00,0.000,6,0.162,0.035,2397,1964,3399,0,0,0,0,0,0
$GC,3337,-0.74,-146.0,328.5,-7.5,272,3341,0.00,2.33,0.00,0.000,4,0.000,0.055,2398,538,3398,0,0,0,0,0,0
$GC,3432,-0.74,-146.0,334.9,-6.8,274,3436,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1966,3397,0,0,0,0,0,0
$GC,3755,-0.74,-146.0,355.5,-6.2,282,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1966,3396,0,0,0,0,0,0
$GC,4075,-0.74,-146.0,373.4,-5.3,290,4079,0.00,2.33,0.00,0.000,4,0.000,0.057,2390,542,3394,0,0,0,0,0,0
$GC,4305,-0.74,-146.0,387.1,-6.1,295,4309,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1962,3393,0,0,0,0,0,0
$GC,4618,-0.74,-146.0,409.5,-8.1,303,4623,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,539,3391,0,0,0,0,0,0
$GC,4730,-0.74,-146.0,421.5,-10.5,305,4734,0.12,2.20,0.00,0.000,6,0.163,0.040,2403,1961,3391,0,0,0,0,0,0
$GC,5081,-0.74,-146.0,446.5,-6.4,314,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1961,3389,0,0,0,0,0,0
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5163,-0.17,0.0,451.2,6.0,316,5287,0.55,0.00,121.50,0.758,6,0.114,0.000,2582,1961,2800,0,0,0,0,0,0
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5291,0.74,146.0,452.1,0.0,319,5423,0.85,0.00,128.02,0.733,6,0.080,0.000,2874,1961,2204,0,0,0,0,0,0
$GC,5740,0.74,146.0,401.3,12.6,330,5744,0.00,2.28,0.00,0.000,4,0.000,0.054,2873,3392,2196,0,0,0,0,0,0
$GC,5869,0.74,146.0,384.2,13.4,333,5873,0.00,2.30,0.00,0.000,6,0.000,0.053,2884,1983,2195,0,0,0,0,0,0
$GC,6199,0.74,146.0,344.4,11.8,341,6203,0.00,2.33,0.00,0.000,4,0.000,0.058,2884,3389,2193,0,0,0,0,0,0
$GC,6295,0.74,146.0,331.4,13.4,343,6299,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1972,2192,0,0,0,0,0,0
$GC,6608,0.74,146.0,290.3,13.2,352,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1972,2191,0,0,0,0,0,0
$GC,6918,0.74,146.0,254.5,9.8,367,6922,0.00,2.28,0.00,0.000,4,0.000,0.057,2893,3390,2190,0,0,0,0,0,0
$GC,6973,0.74,146.0,248.7,10.6,369,6979,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1972,2190,0,0,0,0,0,0
$GC,7289,0.74,146.0,218.5,9.2,385,7293,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,3390,2189,0,0,0,0,0,0
$GC,7322,0.74,146.0,215.2,10.5,386,7328,0.12,2.28,0.00,0.000,6,0.147,0.049,2875,1974,2189,0,0,0,0,0,0
$GC,7645,0.74,146.0,186.2,10.0,408,7649,0.00,2.22,0.00,0.000,4,0.000,0.060,2884,570,2188,0,0,0,0,0,0
$GC,7740,0.74,146.0,176.6,10.9,416,7744,0.00,2.20,0.00,0.000,6,0.000,0.041,2884,1993,2188,0,0,0,0,0,0
$GC,8067,0.74,146.0,143.7,9.7,446,8071,0.00,2.20,0.00,0.000,4,0.000,0.052,2884,3392,2188,0,0,0,0,0,0
$GC,8229,0.76,163.8,130.1,8.3,460,8253,0.00,2.20,13.93,0.522,6,0.000,0.041,2894,1975,2130,0,0,0,0,0,0
$GC,8574,0.76,167.2,103.0,8.9,492,8582,0.00,0.00,4.32,0.378,6,0.000,0.000,2893,1975,2118,0,0,0,0,0,0
$GC,8902,0.79,192.1,76.2,8.0,527,8931,0.00,2.22,22.77,0.494,4,0.000,0.055,2901,562,2016,0,0,0,0,0,0
$GC,8983,0.81,207.4,69.8,8.4,541,9008,0.00,2.20,14.52,0.468,6,0.000,0.036,2901,1981,1952,0,0,0,0,0,0
$GC,9339,0.87,251.2,44.5,7.2,605,9386,0.00,2.25,38.30,0.470,4,0.000,0.052,2901,3379,1774,0,0,0,0,0,0
$GC,9555,0.90,281.2,25.9,7.8,644,9589,0.00,2.25,26.48,0.446,6,0.000,0.044,2904,1977,1653,0,0,0,0,0,0
$GC,9750,0.94,312.2,10.1,7.7,679,9783,0.10,2.28,27.65,0.432,4,0.085,0.056,3001,566,1526,0,0,0,0,0,0
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9810,begin surface coast
$FINISH,0.6,1.012010
$STATE,9834,end surface coast,CONTROL_FINISHED_OK
$STATE,9834,begin surface
$SM_CCo,9915,0.00,0.000,0,0,1521,313.49
$SM_GC,1.44,7.65,0.00,0.00,0.025,0.000,0.000,49,1962,1521,-7.98,0.17,313.49
$IRIDIUM_FIX,2057.14,-15804.20,150902,191935
$TT8_MAMPS,0.027612
$HUMID,65.00
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,45.199
$10V_AH,10.3,49.204
$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,19.275,85.125,397.500,0.000,0.000,27.365,44.062,156.589,19.250,0.000,16.908,1247.122,5805.912,429.275,2286.952,504.496,0.000,1245.047,0.000,2245.019,0.000,119.198,0.000
$DEVICE_MAMPS,223.964,59.826,757.796,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,469.253,403.502,1379.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38117,693
$CAP_FILE_SIZE,104764,0
$CFSIZE,260165632,229437440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,012655,2109.047,-15801.378,36,1.8,36,9.8