version: 66.06
glider: 523
mission: 4
dive: 485
start: 6 16 113 4 27 21
data:
$ID,523
$MISSION,4
$DIVE,485
$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,-45691.676
$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,22
$R_STBD_OVSHOOT,37
$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
$GPS1,042052,2107.986,-15800.308,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.8
$GPS2,042705,2108.018,-15800.354,21,0.9,21,9.8
$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,87.9,30403,-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,-76.32,0.000,2,0.000,0.000,50,1975,3382,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.5,-5.7,12,114,9.57,0.00,-0.25,0.000,6,0.228,0.000,2392,1975,3396,0,0,0,0,0,0
$GC,270,-0.74,-146.0,38.0,-16.2,44,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1976,3397,0,0,0,0,0,0
$GC,610,-0.74,-146.0,81.3,-10.3,105,614,0.00,2.30,0.00,0.000,4,0.000,0.060,2393,545,3398,0,0,0,0,0,0
$GC,798,-0.74,-146.0,103.9,-11.5,122,803,0.00,2.12,0.00,0.000,6,0.000,0.035,2384,1954,3399,0,0,0,0,0,0
$GC,1126,-0.74,-146.0,137.8,-9.0,152,1130,0.00,2.25,0.00,0.000,4,0.000,0.055,2374,3366,3400,0,0,0,0,0,0
$GC,1168,-0.74,-146.0,141.3,-8.4,155,1172,0.00,2.25,0.00,0.000,6,0.000,0.044,2374,1950,3400,0,0,0,0,0,0
$GC,1496,-0.74,-146.0,170.4,-10.3,185,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1949,3401,0,0,0,0,0,0
$GC,1820,-0.74,-146.0,202.0,-8.8,215,1824,0.00,2.30,0.00,0.000,4,0.000,0.051,2364,3368,3401,0,0,0,0,0,0
$GC,1848,-0.74,-146.0,204.7,-9.0,216,1854,0.12,2.22,0.00,0.000,6,0.150,0.045,2397,1947,3401,0,0,0,0,0,0
$GC,2170,-0.74,-146.0,232.6,-9.6,232,2174,0.00,2.22,0.00,0.000,4,0.000,0.055,2397,537,3401,0,0,0,0,0,0
$GC,2304,-0.74,-146.0,243.8,-8.0,238,2308,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1962,3401,0,0,0,0,0,0
$GC,2635,-0.74,-146.0,265.5,-7.2,254,2639,0.00,2.28,0.00,0.000,4,0.000,0.053,2388,536,3401,0,0,0,0,0,0
$GC,2842,-0.74,-146.0,283.6,-9.2,263,2846,0.00,2.17,0.00,0.000,6,0.000,0.037,2379,1968,3401,0,0,0,0,0,0
$GC,3158,-0.74,-146.0,313.8,-10.1,275,3161,0.00,2.33,0.00,0.000,4,0.000,0.056,2378,539,3401,0,0,0,0,0,0
$GC,3417,-0.74,-146.0,336.1,-6.7,280,3422,0.12,2.20,0.00,0.000,6,0.167,0.039,2402,1966,3400,0,0,0,0,0,0
$GC,3750,-0.74,-146.0,351.5,-4.3,288,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1966,3399,0,0,0,0,0,0
$GC,4074,-0.74,-146.0,369.6,-6.3,296,4079,0.00,2.35,0.00,0.000,4,0.000,0.059,2401,542,3397,0,0,0,0,0,0
$GC,4236,-0.74,-146.0,382.9,-8.7,299,4240,0.00,2.20,0.00,0.000,6,0.000,0.040,2394,1961,3396,0,0,0,0,0,0
$GC,4578,-0.74,-146.0,408.8,-7.3,308,4582,0.00,2.30,0.00,0.000,4,0.000,0.059,2394,544,3394,0,0,0,0,0,0
$GC,4720,-0.74,-146.0,419.8,-7.6,311,4725,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1958,3393,0,0,0,0,0,0
$GC,5039,-0.74,-146.0,444.4,-7.9,319,5043,0.00,2.25,0.00,0.000,4,0.000,0.061,2374,3362,3391,0,0,0,0,0,0
$STATE,5112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5112,begin apogee
$GC,5120,-0.17,0.0,450.4,7.4,320,5245,0.62,0.00,121.03,0.758,6,0.124,0.000,2574,1980,2800,0,0,0,0,0,0
$STATE,5245,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5248,0.74,146.0,453.1,0.0,323,5379,0.85,0.00,127.00,0.733,6,0.075,0.000,2873,1980,2204,0,0,0,0,0,0
$GC,5695,0.74,146.0,402.6,11.9,334,5699,0.00,2.30,0.00,0.000,4,0.000,0.058,2873,3382,2197,0,0,0,0,0,0
$GC,5727,0.74,146.0,398.6,12.3,334,5733,0.00,2.28,0.00,0.000,6,0.000,0.050,2882,1972,2196,0,0,0,0,0,0
$GC,6059,0.74,146.0,355.2,13.7,343,6063,0.00,2.28,0.00,0.000,4,0.000,0.067,2892,571,2194,0,0,0,0,0,0
$GC,6109,0.74,146.0,349.2,11.5,344,6113,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1985,2194,0,0,0,0,0,0
$GC,6422,0.74,146.0,309.5,13.4,352,6426,0.00,2.25,0.00,0.000,4,0.000,0.064,2893,3386,2192,0,0,0,0,0,0
$GC,6512,0.74,146.0,297.2,13.3,354,6516,0.00,2.25,0.00,0.000,6,0.000,0.050,2900,1977,2191,0,0,0,0,0,0
$GC,6833,0.74,146.0,258.5,11.3,370,6837,0.00,2.28,0.00,0.000,4,0.000,0.059,2911,563,2191,0,0,0,0,0,0
$GC,6868,0.74,146.0,254.4,11.6,371,6874,0.12,2.20,0.00,0.000,6,0.139,0.038,2876,1984,2190,0,0,0,0,0,0
$GC,7184,0.75,153.5,225.3,8.7,387,7194,0.00,2.28,5.22,0.493,4,0.000,0.055,2884,556,2173,0,0,0,0,0,0
$GC,7211,0.75,159.1,222.9,8.8,388,7223,0.00,2.22,6.80,0.533,6,0.000,0.038,2884,1993,2151,0,0,0,0,0,0
$GC,7539,0.75,159.1,193.3,9.9,407,7543,0.00,2.22,0.00,0.000,4,0.000,0.052,2884,3392,2148,0,0,0,0,0,0
$GC,7602,0.75,159.1,185.9,12.1,412,7606,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1969,2148,0,0,0,0,0,0
$GC,7930,0.75,159.1,152.9,9.3,442,7934,0.00,2.25,0.00,0.000,4,0.000,0.059,2902,570,2147,0,0,0,0,0,0
$GC,7960,0.75,159.1,149.9,10.1,444,7964,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1980,2147,0,0,0,0,0,0
$GC,8287,0.75,159.1,116.8,10.0,474,8291,0.00,2.22,0.00,0.000,4,0.000,0.052,2902,3397,2147,0,0,0,0,0,0
$GC,8426,0.75,159.1,102.7,9.7,486,8430,0.00,2.22,0.00,0.000,6,0.000,0.041,2912,1978,2147,0,0,0,0,0,0
$GC,8757,0.76,161.9,72.8,8.9,523,8763,0.00,2.22,0.00,0.000,4,0.000,0.056,2922,565,2147,0,0,0,0,0,0
$GC,8895,0.79,190.8,60.7,7.8,548,8930,0.00,2.20,27.75,0.485,6,0.000,0.037,2922,1976,2020,0,0,0,0,0,0
$GC,9257,0.88,261.9,31.0,6.1,614,9326,0.00,2.28,60.70,0.463,4,0.000,0.051,2922,3383,1731,0,0,0,0,0,0
$GC,9436,0.88,261.9,14.5,11.6,645,9443,0.00,2.30,0.00,0.000,6,0.000,0.045,2931,1977,1730,0,0,0,0,0,0
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$FINISH,0.5,1.023570
$STATE,9561,end surface coast,CONTROL_FINISHED_OK
$STATE,9561,begin surface
$SM_CCo,9579,18.62,0.412,0,0,1575,300.24
$SM_GC,1.59,0.00,0.00,18.62,0.000,0.000,0.412,52,1971,1575,-8.09,0.37,300.24
$IRIDIUM_FIX,2104.07,-15809.77,100902,010153
$TT8_MAMPS,0.027612
$HUMID,65.16
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.5,40.260
$10V_AH,10.4,44.323
$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,18.800,85.275,348.500,18.625,0.000,26.002,39.573,167.376,19.250,0.000,21.677,1223.647,5626.506,399.955,2208.961,507.974,0.000,1192.146,0.000,2158.723,0.000,117.269,0.000
$DEVICE_MAMPS,227.799,67.496,757.796,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,453.491,386.895,1288.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38117,668
$CAP_FILE_SIZE,103444,0
$CFSIZE,260165632,231845888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,070811,2108.124,-15759.707,13,1.0,13,9.8