version: 66.06
glider: 523
mission: 4
dive: 493
start: 6 17 113 2 57 27
data:
$ID,523
$MISSION,4
$DIVE,493
$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,-45835.426
$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
$GPS1,024504,2109.276,-15753.762,34,0.9,34,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.3
$GPS2,025711,2109.281,-15753.823,19,0.9,19,9.8
$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,99.0,19906,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-76.50,0.000,2,0.000,0.000,52,1968,3384,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.8,12,113,9.57,0.00,-0.22,0.000,6,0.227,0.000,2391,1968,3398,0,0,0,0,0,0
$GC,269,-0.74,-146.0,36.1,-16.4,44,277,0.00,2.35,0.00,0.000,4,0.000,0.057,2390,542,3399,0,0,0,0,0,0
$GC,323,-0.74,-146.0,44.8,-16.0,53,328,0.00,2.17,0.00,0.000,6,0.000,0.036,2382,1960,3399,0,0,0,0,0,0
$GC,659,-0.74,-146.0,90.9,-9.7,106,663,0.00,2.30,0.00,0.000,4,0.000,0.054,2382,542,3400,0,0,0,0,0,0
$GC,908,-0.74,-146.0,118.5,-11.0,128,916,0.00,2.17,0.00,0.000,6,0.000,0.033,2372,1960,3400,0,0,0,0,0,0
$GC,1236,-0.74,-146.0,150.5,-9.4,159,1241,0.10,2.28,0.00,0.000,4,0.172,0.053,2398,544,3400,0,0,0,0,0,0
$GC,1442,-0.74,-146.0,167.1,-8.3,177,1446,0.00,2.12,0.00,0.000,6,0.000,0.034,2389,1957,3400,0,0,0,0,0,0
$GC,1769,-0.74,-146.0,197.4,-8.7,207,1773,0.00,2.28,0.00,0.000,4,0.000,0.052,2389,544,3401,0,0,0,0,0,0
$GC,1933,-0.74,-146.0,211.5,-8.1,215,1937,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1955,3401,0,0,0,0,0,0
$GC,2251,-0.74,-146.0,237.5,-7.9,230,2255,0.00,2.28,0.00,0.000,4,0.000,0.053,2379,541,3401,0,0,0,0,0,0
$GC,2319,-0.74,-146.0,243.1,-8.2,233,2324,0.12,2.17,0.00,0.000,6,0.169,0.035,2402,1961,3401,0,0,0,0,0,0
$GC,2647,-0.74,-146.0,266.0,-8.2,249,2651,0.00,2.25,0.00,0.000,4,0.000,0.055,2393,3361,3401,0,0,0,0,0,0
$GC,2686,-0.74,-146.0,269.8,-9.6,251,2691,0.00,2.22,0.00,0.000,6,0.000,0.042,2393,1944,3401,0,0,0,0,0,0
$GC,3019,-0.74,-146.0,297.6,-8.0,267,3023,0.00,2.22,0.00,0.000,4,0.000,0.057,2393,547,3401,0,0,0,0,0,0
$GC,3277,-0.74,-146.0,321.0,-9.1,273,3282,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,1963,3399,0,0,0,0,0,0
$GC,3609,-0.74,-146.0,347.8,-7.7,282,3613,0.00,2.30,0.00,0.000,4,0.000,0.056,2383,542,3397,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,362.2,-4.7,287,3837,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1964,3396,0,0,0,0,0,0
$GC,4158,-0.74,-146.0,379.4,-5.8,295,4162,0.00,2.33,0.00,0.000,4,0.000,0.058,2374,545,3394,0,0,0,0,0,0
$GC,4309,-0.74,-146.0,389.6,-7.0,298,4314,0.15,2.20,0.00,0.000,6,0.155,0.039,2404,1962,3393,0,0,0,0,0,0
$GC,4653,-0.74,-146.0,409.3,-6.1,307,4657,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,548,3391,0,0,0,0,0,0
$GC,4785,-0.74,-146.0,418.4,-7.2,310,4789,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1958,3390,0,0,0,0,0,0
$GC,5111,-0.74,-146.0,443.3,-7.7,318,5115,0.00,2.22,0.00,0.000,4,0.000,0.059,2387,3364,3388,0,0,0,0,0,0
$STATE,5198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5198,begin apogee
$GC,5208,-0.17,0.0,450.4,7.6,320,5332,0.60,0.00,120.70,0.757,6,0.120,0.000,2581,1976,2800,0,0,0,0,0,0
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5335,0.74,146.0,452.2,0.0,323,5470,0.88,2.38,127.40,0.734,4,0.077,0.055,2878,3388,2204,0,0,0,0,0,0
$GC,5523,0.74,146.0,431.3,14.3,327,5528,0.00,2.33,0.00,0.000,6,0.000,0.045,2887,1978,2200,0,0,0,0,0,0
$GC,5854,0.74,146.0,383.0,15.0,336,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1979,2197,0,0,0,0,0,0
$GC,6179,0.74,146.0,338.8,13.3,344,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1978,2194,0,0,0,0,0,0
$GC,6504,0.74,146.0,300.0,11.8,352,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1978,2193,0,0,0,0,0,0
$GC,6812,0.74,146.0,260.0,12.1,366,6817,0.00,2.30,0.00,0.000,4,0.000,0.066,2897,566,2192,0,0,0,0,0,0
$GC,6857,0.74,146.0,254.8,11.3,368,6861,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1986,2191,0,0,0,0,0,0
$GC,7178,0.74,146.0,219.7,10.6,384,7182,0.00,2.20,0.00,0.000,4,0.000,0.054,2897,3395,2191,0,0,0,0,0,0
$GC,7268,0.74,146.0,209.2,12.3,388,7272,0.00,2.25,0.00,0.000,6,0.000,0.043,2906,1965,2189,0,0,0,0,0,0
$GC,7599,0.74,146.0,169.5,11.6,416,7603,0.00,2.25,0.00,0.000,4,0.000,0.052,2906,3394,2189,0,0,0,0,0,0
$GC,7672,0.74,146.0,160.6,12.3,422,7676,0.12,2.22,0.00,0.000,6,0.151,0.041,2880,1974,2189,0,0,0,0,0,0
$GC,8000,0.74,146.0,129.2,10.0,452,8004,0.00,2.25,0.00,0.000,4,0.000,0.051,2881,3389,2188,0,0,0,0,0,0
$GC,8029,0.74,146.0,125.9,10.8,454,8033,0.00,2.20,0.00,0.000,6,0.000,0.040,2888,1979,2188,0,0,0,0,0,0
$GC,8358,0.75,155.0,95.2,8.7,484,8371,0.00,2.25,5.85,0.432,4,0.000,0.050,2888,3387,2169,0,0,0,0,0,0
$GC,8507,0.75,155.0,81.4,9.1,497,8511,0.00,2.20,0.00,0.000,6,0.000,0.039,2898,1970,2169,0,0,0,0,0,0
$GC,8836,0.77,172.7,55.3,8.3,556,8860,0.00,2.22,17.42,0.473,4,0.000,0.058,2906,576,2094,0,0,0,0,0,0
$GC,8912,0.77,172.7,48.6,9.3,569,8917,0.00,2.20,0.00,0.000,6,0.000,0.039,2906,1988,2093,0,0,0,0,0,0
$GC,9241,0.82,216.6,22.9,7.2,630,9287,0.00,2.25,37.83,0.456,4,0.000,0.053,2907,3390,1915,0,0,0,0,0,0
$GC,9366,0.82,216.6,11.2,9.1,651,9374,0.00,2.25,0.00,0.000,6,0.000,0.044,2906,1986,1913,0,0,0,0,0,0
$STATE,9452,end climb,SURFACE_DEPTH_REACHED
$STATE,9452,begin surface coast
$FINISH,0.5,1.023218
$STATE,9487,end surface coast,CONTROL_FINISHED_OK
$STATE,9487,begin surface
$SM_CCo,9505,38.83,0.426,0,0,1576,300.24
$SM_GC,1.55,0.00,0.00,38.83,0.000,0.000,0.426,58,1975,1576,-8.07,0.51,300.24
$IRIDIUM_FIX,2101.76,-15738.45,110902,020243
$TT8_MAMPS,0.028379
$HUMID,65.47
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.5,40.933
$10V_AH,10.3,45.116
$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,18.925,85.100,309.200,38.825,0.000,93.943,148.907,218.479,19.000,0.000,19.833,1245.293,5591.144,397.137,2299.319,734.524,0.000,1198.326,0.000,2245.241,0.000,119.208,0.000
$DEVICE_MAMPS,227.032,65.962,757.029,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,457.286,385.114,1328.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38090,673
$CAP_FILE_SIZE,108150,0
$CFSIZE,260165632,231444480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,053726,2109.341,-15752.831,15,2.0,15,9.8