version: 66.06
glider: 523
mission: 4
dive: 545
start: 6 23 113 12 24 59
data:
$ID,523
$MISSION,4
$DIVE,545
$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,-46874.84
$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,25
$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
$GPS1,121531,2109.557,-15753.092,20,0.9,21,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.4
$GPS2,122443,2109.603,-15753.339,25,1.5,25,9.8
$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,101.5,19324,-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,-76.85,0.000,6,0.000,0.000,51,1984,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.3,13,118,9.57,2.17,0.00,0.000,4,0.225,0.046,2384,3373,3396,0,0,0,0,0,0
$GC,167,-0.74,-146.0,20.5,-15.8,24,175,0.00,2.25,0.00,0.000,6,0.000,0.041,2384,1954,3398,0,0,0,0,0,0
$GC,338,-0.74,-146.0,45.2,-15.1,55,344,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,541,3398,0,0,0,0,0,0
$GC,450,-0.74,-146.0,62.4,-15.6,75,456,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1963,3399,0,0,0,0,0,0
$GC,780,-0.74,-146.0,104.3,-13.8,118,787,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,540,3399,0,0,0,0,0,0
$GC,839,-0.74,-146.0,112.8,-14.9,123,843,0.12,2.17,0.00,0.000,6,0.166,0.035,2396,1960,3399,0,0,0,0,0,0
$GC,1166,-0.74,-146.0,146.2,-8.0,153,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1961,3400,0,0,0,0,0,0
$GC,1494,-0.74,-146.0,172.6,-8.5,184,1498,0.00,2.22,0.00,0.000,4,0.000,0.051,2397,541,3401,0,0,0,0,0,0
$GC,1613,-0.74,-146.0,184.1,-9.4,194,1618,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1963,3401,0,0,0,0,0,0
$GC,1949,-0.74,-146.0,212.2,-6.3,218,1953,0.00,2.25,0.00,0.000,4,0.000,0.052,2389,544,3401,0,0,0,0,0,0
$GC,2179,-0.74,-146.0,228.5,-9.3,228,2183,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1965,3401,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,254.5,-7.4,243,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1965,3402,0,0,0,0,0,0
$GC,2804,-0.74,-146.0,272.7,-5.7,258,2808,0.00,2.22,0.00,0.000,4,0.000,0.057,2369,3368,3402,0,0,0,0,0,0
$GC,2865,-0.74,-146.0,277.8,-8.6,260,2871,0.12,2.20,0.00,0.000,6,0.149,0.043,2402,1956,3401,0,0,0,0,0,0
$GC,3200,-0.74,-146.0,309.3,-9.3,275,3204,0.00,2.22,0.00,0.000,4,0.000,0.054,2402,537,3401,0,0,0,0,0,0
$GC,3335,-0.74,-146.0,320.1,-7.1,278,3339,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1959,3401,0,0,0,0,0,0
$GC,3659,-0.74,-146.0,337.3,-5.0,286,3663,0.00,2.28,0.00,0.000,4,0.000,0.054,2394,546,3400,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,353.7,-6.4,291,3922,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1954,3399,0,0,0,0,0,0
$GC,4251,-0.74,-146.0,376.0,-7.2,299,4255,0.00,2.30,0.00,0.000,4,0.000,0.056,2385,539,3397,0,0,0,0,0,0
$GC,4442,-0.74,-146.0,392.8,-8.9,303,4446,0.00,2.17,0.00,0.000,6,0.000,0.039,2375,1955,3395,0,0,0,0,0,0
$GC,4756,-0.74,-146.0,418.2,-7.7,311,4760,0.00,2.30,0.00,0.000,4,0.000,0.058,2375,544,3393,0,0,0,0,0,0
$GC,4918,-0.74,-146.0,432.7,-8.7,314,4923,0.12,2.20,0.00,0.000,6,0.156,0.041,2398,1958,3392,0,0,0,0,0,0
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5180,-0.17,0.0,450.2,6.5,321,5305,0.57,0.00,121.85,0.757,6,0.115,0.000,2585,1958,2800,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5306,begin climb
$GC,5309,0.74,146.0,451.9,0.0,324,5443,0.82,0.00,127.15,0.732,6,0.074,0.000,2870,1958,2204,0,0,0,0,0,0
$GC,5755,0.74,146.0,400.1,12.6,335,5760,0.00,2.33,0.00,0.000,4,0.000,0.060,2871,3392,2197,0,0,0,0,0,0
$GC,5834,0.74,146.0,388.9,14.0,336,5839,0.00,2.28,0.00,0.000,6,0.000,0.048,2880,1979,2195,0,0,0,0,0,0
$GC,6167,0.74,146.0,350.5,10.9,345,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1979,2194,0,0,0,0,0,0
$GC,6490,0.74,146.0,314.1,11.0,353,6494,0.00,2.28,0.00,0.000,4,0.000,0.065,2890,567,2193,0,0,0,0,0,0
$GC,6574,0.74,146.0,305.5,9.8,355,6578,0.00,2.20,0.00,0.000,6,0.000,0.039,2891,1989,2192,0,0,0,0,0,0
$GC,6903,0.74,146.0,269.2,11.3,369,6907,0.00,2.22,0.00,0.000,4,0.000,0.059,2890,3395,2191,0,0,0,0,0,0
$GC,6997,0.74,146.0,258.7,10.4,373,7001,0.00,2.25,0.00,0.000,6,0.000,0.041,2900,1968,2189,0,0,0,0,0,0
$GC,7313,0.74,146.0,228.7,9.5,388,7317,0.00,2.30,0.00,0.000,4,0.000,0.060,2900,3386,2189,0,0,0,0,0,0
$GC,7359,0.74,146.0,224.1,10.4,390,7363,0.12,2.25,0.00,0.000,6,0.148,0.049,2874,1982,2189,0,0,0,0,0,0
$GC,7683,0.75,153.3,197.6,8.7,406,7692,0.00,0.00,4.97,0.462,6,0.000,0.000,2874,1981,2175,0,0,0,0,0,0
$GC,8012,0.75,153.3,167.5,9.1,437,8016,0.00,2.28,0.00,0.000,4,0.000,0.058,2874,3385,2172,0,0,0,0,0,0
$GC,8053,0.75,153.3,163.4,10.2,440,8057,0.00,2.25,0.00,0.000,6,0.000,0.047,2881,1973,2172,0,0,0,0,0,0
$GC,8380,0.76,165.2,133.4,8.5,470,8397,0.00,2.22,12.15,0.521,4,0.000,0.058,2891,567,2124,0,0,0,0,0,0
$GC,8433,0.77,174.1,129.2,8.7,474,8449,0.00,2.22,9.02,0.490,6,0.000,0.041,2891,1985,2090,0,0,0,0,0,0
$GC,8777,0.78,182.2,102.9,8.7,506,8790,0.00,2.20,8.35,0.461,4,0.000,0.051,2891,3392,2057,0,0,0,0,0,0
$GC,8869,0.78,182.2,94.4,10.6,514,8873,0.00,2.25,0.00,0.000,6,0.000,0.046,2899,1977,2056,0,0,0,0,0,0
$GC,9199,0.85,238.1,67.6,6.7,559,9257,0.00,2.30,48.70,0.491,4,0.000,0.059,2907,573,1828,0,0,0,0,0,0
$GC,9318,0.95,322.6,60.6,5.5,579,9399,0.12,2.20,72.57,0.477,6,0.074,0.041,2987,1980,1483,0,0,0,0,0,0
$GC,9724,0.95,322.6,7.9,11.5,653,9732,0.15,2.30,0.00,0.000,4,0.138,0.053,2944,3392,1482,0,0,0,0,0,0
$STATE,9770,end climb,SURFACE_DEPTH_REACHED
$STATE,9770,begin surface coast
$FINISH,1.0,1.023189
$STATE,9798,end surface coast,CONTROL_FINISHED_OK
$STATE,9798,begin surface
$SM_CCo,9879,0.00,0.000,0,0,1479,324.28
$SM_GC,1.23,7.43,0.00,0.00,0.023,0.000,0.000,48,1948,1479,-7.98,-0.25,324.28
$IRIDIUM_FIX,2057.14,-15753.90,170902,121225
$TT8_MAMPS,0.027612
$HUMID,64.80
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,46.331
$10V_AH,10.3,50.518
$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,19.175,84.925,404.775,0.000,0.000,58.631,66.068,210.240,19.000,0.000,26.087,1197.642,5952.634,413.996,2241.752,616.959,0.000,1240.727,0.000,2185.563,0.000,121.681,0.000
$DEVICE_MAMPS,224.731,65.195,757.029,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.975,391.295,1291.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38118,666
$CAP_FILE_SIZE,107679,0
$CFSIZE,260165632,228765696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,151037,2109.403,-15753.000,23,1.8,23,9.8