version: 66.06
glider: 523
mission: 4
dive: 540
start: 6 22 113 21 42 38
data:
$ID,523
$MISSION,4
$DIVE,540
$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,-46766.617
$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,21
$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
$GPS1,213538,2110.559,-15756.859,35,0.7,36,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.9
$GPS2,214222,2110.547,-15756.935,30,0.8,30,9.8
$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,100.1,25757,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.10,0.000,2,0.000,0.000,42,1943,3359,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.4,12,115,9.57,2.28,-0.80,0.000,4,0.225,0.067,2392,545,3397,0,0,0,0,0,0
$GC,280,-0.74,-146.0,36.9,-16.0,45,286,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1955,3398,0,0,0,0,0,0
$GC,617,-0.74,-146.0,81.7,-12.1,106,621,0.00,2.25,0.00,0.000,4,0.000,0.056,2384,542,3399,0,0,0,0,0,0
$GC,802,-0.74,-146.0,104.7,-11.6,122,807,0.00,2.17,0.00,0.000,6,0.000,0.037,2375,1964,3400,0,0,0,0,0,0
$GC,1135,-0.74,-146.0,140.4,-10.5,153,1139,0.00,2.25,0.00,0.000,4,0.000,0.055,2375,544,3401,0,0,0,0,0,0
$GC,1383,-0.74,-146.0,168.1,-10.7,175,1389,0.10,2.20,0.00,0.000,6,0.140,0.037,2397,1953,3402,0,0,0,0,0,0
$GC,1710,-0.74,-146.0,190.9,-6.8,206,1714,0.00,2.22,0.00,0.000,4,0.000,0.054,2397,543,3402,0,0,0,0,0,0
$GC,1850,-0.74,-146.0,204.9,-10.6,216,1856,0.00,2.17,0.00,0.000,6,0.000,0.036,2389,1962,3402,0,0,0,0,0,0
$GC,2168,-0.74,-146.0,232.3,-7.6,232,2172,0.00,2.28,0.00,0.000,4,0.000,0.053,2389,537,3403,0,0,0,0,0,0
$GC,2387,-0.74,-146.0,251.8,-7.7,242,2391,0.00,2.17,0.00,0.000,6,0.000,0.037,2379,1962,3402,0,0,0,0,0,0
$GC,2719,-0.74,-146.0,275.1,-9.2,258,2723,0.00,2.25,0.00,0.000,4,0.000,0.057,2369,3362,3402,0,0,0,0,0,0
$GC,2858,-0.74,-146.0,289.3,-9.5,264,2863,0.12,2.22,0.00,0.000,6,0.150,0.042,2402,1954,3402,0,0,0,0,0,0
$GC,3195,-0.74,-146.0,307.1,-3.7,276,3199,0.00,2.25,0.00,0.000,4,0.000,0.057,2402,537,3402,0,0,0,0,0,0
$GC,3256,-0.74,-146.0,308.9,-2.5,277,3260,0.00,2.17,0.00,0.000,6,0.000,0.036,2394,1965,3402,0,0,0,0,0,0
$GC,3601,-0.74,-146.0,319.0,-3.4,286,3605,0.00,2.33,0.00,0.000,4,0.000,0.057,2394,541,3401,0,0,0,0,0,0
$GC,3775,-0.74,-146.0,329.6,-8.0,290,3780,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1964,3400,0,0,0,0,0,0
$GC,4108,-0.74,-146.0,354.3,-6.7,298,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3398,0,0,0,0,0,0
$GC,4431,-0.74,-146.0,373.4,-5.6,306,4435,0.00,2.30,0.00,0.000,4,0.000,0.059,2385,550,3396,0,0,0,0,0,0
$GC,4677,-0.74,-146.0,392.0,-8.5,311,4681,0.00,2.20,0.00,0.000,6,0.000,0.039,2375,1959,3395,0,0,0,0,0,0
$GC,5023,-0.74,-146.0,422.0,-8.5,320,5027,0.00,2.28,0.00,0.000,4,0.000,0.060,2365,3366,3393,0,0,0,0,0,0
$GC,5057,-0.74,-146.0,425.2,-8.4,320,5063,0.12,2.25,0.00,0.000,6,0.148,0.044,2397,1949,3393,0,0,0,0,0,0
$STATE,5388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5388,begin apogee
$GC,5394,-0.17,0.0,450.9,7.7,329,5520,0.57,0.00,122.12,0.762,6,0.116,0.000,2583,1949,2800,0,0,0,0,0,0
$STATE,5520,end apogee,CONTROL_FINISHED_OK
$STATE,5520,begin climb
$GC,5524,0.74,146.0,453.1,0.0,332,5662,0.82,2.40,127.20,0.736,4,0.074,0.053,2871,3385,2203,0,0,0,0,0,0
$GC,5830,0.74,146.0,420.5,13.0,339,5834,0.00,2.25,0.00,0.000,6,0.000,0.045,2880,1980,2197,0,0,0,0,0,0
$GC,6148,0.74,146.0,386.4,10.7,347,6152,0.00,2.25,0.00,0.000,4,0.000,0.054,2880,3389,2195,0,0,0,0,0,0
$GC,6181,0.74,146.0,382.6,11.0,347,6187,0.00,2.25,0.00,0.000,6,0.000,0.049,2890,1980,2194,0,0,0,0,0,0
$GC,6513,0.74,146.0,345.7,11.8,356,6517,0.00,2.25,0.00,0.000,4,0.000,0.060,2900,568,2193,0,0,0,0,0,0
$GC,6557,0.74,146.0,339.9,13.5,357,6561,0.00,2.22,0.00,0.000,6,0.000,0.038,2901,1992,2192,0,0,0,0,0,0
$GC,6875,0.74,146.0,302.5,11.4,365,6879,0.00,2.17,0.00,0.000,4,0.000,0.053,2901,3388,2192,0,0,0,0,0,0
$GC,6970,0.74,146.0,289.1,15.3,368,6975,0.12,2.28,0.00,0.000,6,0.151,0.050,2875,1975,2190,0,0,0,0,0,0
$GC,7286,0.75,158.7,255.5,8.5,383,7301,0.00,2.28,10.07,0.595,4,0.000,0.058,2875,3392,2153,0,0,0,0,0,0
$GC,7404,0.75,158.7,244.7,10.3,387,7408,0.00,2.25,0.00,0.000,6,0.000,0.049,2882,1977,2150,0,0,0,0,0,0
$GC,7720,0.75,158.7,214.9,10.3,402,7724,0.00,2.25,0.00,0.000,4,0.000,0.060,2893,564,2150,0,0,0,0,0,0
$GC,7775,0.75,158.7,209.1,10.7,404,7781,0.00,2.22,0.00,0.000,6,0.000,0.039,2893,1992,2149,0,0,0,0,0,0
$GC,8101,0.77,176.8,181.4,8.3,430,8126,0.00,2.22,16.48,0.578,4,0.000,0.051,2892,3389,2080,0,0,0,0,0,0
$GC,8315,0.77,176.8,159.8,12.1,449,8319,0.00,2.22,0.00,0.000,6,0.000,0.046,2901,1978,2077,0,0,0,0,0,0
$GC,8642,0.77,176.8,119.8,13.0,479,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1977,2077,0,0,0,0,0,0
$GC,8963,0.77,176.8,84.3,9.8,509,8967,0.00,2.28,0.00,0.000,4,0.000,0.055,2901,3390,2077,0,0,0,0,0,0
$GC,9025,0.77,176.8,77.9,9.7,515,9030,0.00,2.22,0.00,0.000,6,0.000,0.047,2909,1979,2077,0,0,0,0,0,0
$GC,9359,0.83,221.1,53.8,7.2,576,9405,0.00,2.30,38.90,0.486,4,0.000,0.058,2917,564,1897,0,0,0,0,0,0
$GC,9484,0.88,264.9,43.4,7.2,598,9531,0.00,2.25,38.47,0.469,6,0.000,0.038,2918,1980,1719,0,0,0,0,0,0
$GC,9855,0.92,293.3,13.9,7.9,666,9888,0.00,2.28,25.25,0.438,4,0.000,0.054,2917,3393,1603,0,0,0,0,0,0
$GC,9957,0.93,304.2,4.5,8.6,683,9978,0.00,2.28,10.50,0.400,6,0.000,0.044,2925,1982,1559,0,0,0,0,0,0
$STATE,9984,end climb,SURFACE_DEPTH_REACHED
$STATE,9984,begin surface coast
$FINISH,0.8,1.023143
$STATE,10022,end surface coast,CONTROL_FINISHED_OK
$STATE,10022,begin surface
$SM_CCo,10101,0.00,0.000,0,0,1555,305.39
$SM_GC,1.37,7.45,0.00,0.00,0.028,0.000,0.000,46,1978,1555,-8.00,0.65,305.39
$IRIDIUM_FIX,2057.14,-15802.06,160902,191956
$TT8_MAMPS,0.028379
$HUMID,65.51
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,45.893
$10V_AH,10.3,50.010
$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,18.900,89.775,389.000,0.000,0.000,28.781,42.002,181.682,19.250,0.000,30.726,1266.787,5881.556,400.748,2411.613,536.700,0.000,1274.274,0.000,2344.483,0.000,119.812,0.000
$DEVICE_MAMPS,225.498,66.729,761.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.539,389.690,1346.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38039,694
$CAP_FILE_SIZE,109182,0
$CFSIZE,260165632,229027840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,003223,2110.515,-15755.963,48,1.0,48,9.8