version: 66.06
glider: 523
mission: 4
dive: 549
start: 6 24 113 0 17 9
data:
$ID,523
$MISSION,4
$DIVE,549
$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,-46968.281
$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,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
$GPS1,000459,2109.088,-15748.747,39,0.9,39,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.7
$GPS2,001653,2109.045,-15748.812,19,0.9,19,9.8
$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,110.6,11813,-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,-76.03,0.000,2,0.000,0.000,38,1993,3368,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-3.9,12,115,9.60,2.40,-0.62,0.000,4,0.222,0.066,2394,538,3397,0,0,0,0,0,0
$GC,271,-0.74,-146.0,36.3,-16.0,43,276,0.00,2.20,0.00,0.000,6,0.000,0.037,2385,1957,3398,0,0,0,0,0,0
$GC,611,-0.74,-146.0,81.6,-12.5,104,615,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,538,3399,0,0,0,0,0,0
$GC,707,-0.74,-146.0,94.7,-14.2,112,712,0.00,2.17,0.00,0.000,6,0.000,0.036,2376,1958,3400,0,0,0,0,0,0
$GC,1040,-0.74,-146.0,129.4,-9.8,143,1044,0.00,2.20,0.00,0.000,4,0.000,0.055,2366,3364,3401,0,0,0,0,0,0
$GC,1098,-0.74,-146.0,135.2,-9.9,148,1103,0.12,2.22,0.00,0.000,6,0.150,0.042,2398,1951,3401,0,0,0,0,0,0
$GC,1425,-0.74,-146.0,163.6,-8.5,178,1429,0.00,2.22,0.00,0.000,4,0.000,0.055,2398,538,3402,0,0,0,0,0,0
$GC,1637,-0.74,-146.0,185.5,-11.0,196,1644,0.00,2.20,0.00,0.000,6,0.000,0.035,2390,1960,3401,0,0,0,0,0,0
$GC,1957,-0.74,-146.0,213.8,-7.2,219,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1960,3402,0,0,0,0,0,0
$GC,2266,-0.74,-146.0,237.5,-8.7,234,2270,0.00,2.22,0.00,0.000,4,0.000,0.054,2379,3365,3402,0,0,0,0,0,0
$GC,2392,-0.74,-146.0,246.5,-6.7,239,2398,0.00,2.25,0.00,0.000,6,0.000,0.042,2379,1947,3402,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,271.3,-8.1,255,2717,0.00,2.25,0.00,0.000,4,0.000,0.054,2379,546,3402,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,293.3,-10.7,265,2947,0.12,2.17,0.00,0.000,6,0.163,0.035,2402,1966,3401,0,0,0,0,0,0
$GC,3278,-0.74,-146.0,317.5,-6.5,275,3282,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,547,3401,0,0,0,0,0,0
$GC,3384,-0.74,-146.0,324.0,-6.0,277,3388,0.00,2.17,0.00,0.000,6,0.000,0.036,2395,1961,3401,0,0,0,0,0,0
$GC,3731,-0.74,-146.0,347.9,-8.1,286,3735,0.00,2.22,0.00,0.000,4,0.000,0.055,2384,3366,3400,0,0,0,0,0,0
$GC,3816,-0.74,-146.0,356.1,-8.9,288,3820,0.00,2.22,0.00,0.000,6,0.000,0.040,2384,1950,3399,0,0,0,0,0,0
$GC,4142,-0.74,-146.0,379.2,-6.3,296,4146,0.00,2.22,0.00,0.000,4,0.000,0.059,2384,551,3397,0,0,0,0,0,0
$GC,4378,-0.74,-146.0,393.9,-5.1,301,4382,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1955,3396,0,0,0,0,0,0
$GC,4728,-0.74,-146.0,411.4,-5.4,310,4732,0.00,2.28,0.00,0.000,4,0.000,0.058,2375,551,3394,0,0,0,0,0,0
$GC,4851,-0.74,-146.0,419.2,-5.8,312,4856,0.12,2.20,0.00,0.000,6,0.160,0.040,2397,1965,3393,0,0,0,0,0,0
$GC,5186,-0.74,-146.0,440.5,-7.1,320,5190,0.00,2.25,0.00,0.000,4,0.000,0.057,2389,3372,3391,0,0,0,0,0,0
$GC,5252,-0.74,-146.0,446.2,-8.0,321,5257,0.00,2.28,0.00,0.000,6,0.000,0.050,2389,1955,3391,0,0,0,0,0,0
$STATE,5308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5309,begin apogee
$GC,5316,-0.17,0.0,450.9,8.2,323,5441,0.60,0.00,122.18,0.758,6,0.117,0.000,2580,1955,2799,0,0,0,0,0,0
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5445,0.74,146.0,454.5,0.0,326,5576,0.85,0.00,127.80,0.735,6,0.083,0.000,2870,1955,2203,0,0,0,0,0,0
$GC,5891,0.74,146.0,404.1,12.3,337,5895,0.00,2.33,0.00,0.000,4,0.000,0.056,2870,3386,2196,0,0,0,0,0,0
$GC,5912,0.74,146.0,401.2,13.1,337,5916,0.00,2.28,0.00,0.000,6,0.000,0.049,2880,1980,2195,0,0,0,0,0,0
$GC,6249,0.74,146.0,358.1,12.2,346,6253,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,569,2193,0,0,0,0,0,0
$GC,6373,0.74,146.0,343.2,11.8,348,6379,0.00,2.22,0.00,0.000,6,0.000,0.040,2890,1990,2193,0,0,0,0,0,0
$GC,6704,0.74,146.0,304.2,11.9,357,6708,0.00,2.20,0.00,0.000,4,0.000,0.053,2890,3388,2191,0,0,0,0,0,0
$GC,6844,0.74,146.0,286.3,12.0,362,6848,0.00,2.25,0.00,0.000,6,0.000,0.051,2899,1979,2190,0,0,0,0,0,0
$GC,7165,0.74,146.0,252.4,9.9,378,7169,0.00,2.25,0.00,0.000,4,0.000,0.060,2909,564,2190,0,0,0,0,0,0
$GC,7344,0.74,146.0,234.2,10.0,386,7349,0.12,2.20,0.00,0.000,6,0.138,0.041,2876,1988,2189,0,0,0,0,0,0
$GC,7664,0.74,146.0,204.0,9.3,402,7668,0.00,2.20,0.00,0.000,4,0.000,0.054,2876,3396,2188,0,0,0,0,0,0
$GC,7831,0.74,146.0,186.2,9.8,415,7838,0.00,2.25,0.00,0.000,6,0.000,0.041,2884,1977,2187,0,0,0,0,0,0
$GC,8158,0.74,149.6,156.2,8.9,446,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1977,2188,0,0,0,0,0,0
$GC,8479,0.81,201.7,130.5,6.9,476,8530,0.00,2.28,45.88,0.552,4,0.000,0.052,2884,3386,1975,0,0,0,0,0,0
$GC,8544,0.82,216.1,125.1,8.4,482,8569,0.00,2.25,14.00,0.508,6,0.000,0.042,2893,1969,1917,0,0,0,0,0,0
$GC,8889,0.89,274.5,97.0,6.6,514,8948,0.10,2.33,51.05,0.515,4,0.085,0.051,2967,3387,1679,0,0,0,0,0,0
$GC,8977,0.89,274.5,86.9,13.7,521,8984,0.15,2.30,0.00,0.000,6,0.115,0.042,2928,1976,1678,0,0,0,0,0,0
$GC,9313,0.91,283.6,53.9,8.7,577,9330,0.00,2.33,9.15,0.426,4,0.000,0.054,2927,3387,1642,0,0,0,0,0,0
$GC,9426,0.91,283.6,43.2,9.7,597,9432,0.00,2.25,0.00,0.000,6,0.000,0.044,2934,1980,1641,0,0,0,0,0,0
$GC,9756,0.94,311.1,14.4,7.9,658,9791,0.00,2.28,24.73,0.437,4,0.000,0.054,2943,573,1529,0,0,0,0,0,0
$GC,9806,0.94,311.1,9.3,10.7,665,9813,0.00,2.20,0.00,0.000,6,0.000,0.033,2943,1983,1529,0,0,0,0,0,0
$STATE,9860,end climb,SURFACE_DEPTH_REACHED
$STATE,9860,begin surface coast
$FINISH,0.7,1.023156
$STATE,9882,end surface coast,CONTROL_FINISHED_OK
$STATE,9883,begin surface
$SM_CCo,9961,0.00,0.000,0,0,1526,312.51
$SM_GC,1.28,7.45,0.00,0.00,0.027,0.000,0.000,38,1984,1526,-8.00,0.79,312.51
$IRIDIUM_FIX,2106.38,-15800.33,180902,000056
$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,46.720
$10V_AH,10.3,50.935
$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,19.250,89.775,394.775,0.000,0.000,88.064,104.541,249.511,19.000,0.000,19.694,1248.195,5926.846,419.391,2322.390,749.313,0.000,1261.522,0.000,2284.309,0.000,119.212,0.000
$DEVICE_MAMPS,222.430,65.962,757.796,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.088,391.917,1333.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38134,679
$CAP_FILE_SIZE,112085,0
$CFSIZE,260165632,228548608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,030423,2108.500,-15748.246,37,0.9,37,9.8