version: 66.06
glider: 523
mission: 4
dive: 494
start: 6 17 113 5 43 45
data:
$ID,523
$MISSION,4
$DIVE,494
$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,-45859.414
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,053726,2109.341,-15752.831,15,2.0,15,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.7
$GPS2,054329,2109.345,-15752.889,22,1.0,22,9.8
$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,101.0,18428,-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,-76.15,0.000,2,0.000,0.000,52,1975,3351,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-3.9,12,121,9.60,2.40,-1.02,0.000,4,0.229,0.073,2389,545,3399,0,0,0,0,0,0
$GC,160,-0.74,-146.0,17.8,-19.3,22,168,0.00,2.22,0.00,0.000,6,0.000,0.036,2381,1969,3399,0,0,0,0,0,0
$GC,331,-0.74,-146.0,46.3,-16.2,53,337,0.00,2.33,0.00,0.000,4,0.000,0.055,2381,542,3398,0,0,0,0,0,0
$GC,359,-0.74,-146.0,51.3,-16.0,58,367,0.00,2.20,0.00,0.000,6,0.000,0.035,2372,1955,3399,0,0,0,0,0,0
$GC,696,-0.74,-146.0,94.7,-12.3,109,703,0.12,2.22,0.00,0.000,4,0.170,0.054,2394,3363,3401,0,0,0,0,0,0
$GC,951,-0.74,-146.0,119.4,-8.7,132,955,0.00,2.22,0.00,0.000,6,0.000,0.045,2394,1960,3402,0,0,0,0,0,0
$GC,1283,-0.74,-146.0,149.5,-9.6,163,1287,0.00,2.28,0.00,0.000,4,0.000,0.055,2394,538,3402,0,0,0,0,0,0
$GC,1395,-0.74,-146.0,160.9,-9.7,173,1399,0.00,2.17,0.00,0.000,6,0.000,0.034,2384,1965,3402,0,0,0,0,0,0
$GC,1723,-0.74,-146.0,190.3,-8.9,203,1727,0.00,2.22,0.00,0.000,4,0.000,0.054,2374,3361,3403,0,0,0,0,0,0
$GC,1797,-0.74,-146.0,197.8,-10.3,209,1801,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,1956,3403,0,0,0,0,0,0
$GC,2115,-0.74,-146.0,230.2,-9.4,225,2119,0.00,2.28,0.00,0.000,4,0.000,0.056,2374,546,3403,0,0,0,0,0,0
$GC,2372,-0.74,-146.0,255.6,-9.0,236,2378,0.15,2.15,0.00,0.000,6,0.160,0.035,2404,1962,3403,0,0,0,0,0,0
$GC,2691,-0.74,-146.0,277.4,-5.9,252,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1962,3403,0,0,0,0,0,0
$GC,2997,-0.74,-146.0,296.7,-7.1,267,3001,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,547,3403,0,0,0,0,0,0
$GC,3173,-0.74,-146.0,310.9,-8.6,273,3176,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1964,3402,0,0,0,0,0,0
$GC,3500,-0.74,-146.0,336.6,-7.6,281,3504,0.00,2.30,0.00,0.000,4,0.000,0.056,2396,547,3402,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,355.6,-8.4,285,3719,0.00,2.15,0.00,0.000,6,0.000,0.037,2387,1958,3401,0,0,0,0,0,0
$GC,4048,-0.74,-146.0,381.1,-7.7,294,4052,0.00,2.30,0.00,0.000,4,0.000,0.058,2387,548,3400,0,0,0,0,0,0
$GC,4216,-0.74,-146.0,394.8,-7.9,297,4222,0.00,2.17,0.00,0.000,6,0.000,0.038,2378,1956,3398,0,0,0,0,0,0
$GC,4550,-0.74,-146.0,416.7,-6.1,306,4554,0.00,2.30,0.00,0.000,4,0.000,0.058,2378,549,3396,0,0,0,0,0,0
$GC,4701,-0.74,-146.0,426.7,-6.8,309,4706,0.12,2.17,0.00,0.000,6,0.164,0.041,2400,1955,3396,0,0,0,0,0,0
$GC,5046,-0.74,-146.0,447.7,-6.7,318,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1955,3394,0,0,0,0,0,0
$STATE,5081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5082,begin apogee
$GC,5088,-0.17,0.0,450.5,6.8,319,5213,0.55,0.00,122.12,0.753,6,0.115,0.000,2579,1955,2799,0,0,0,0,0,0
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5217,0.74,146.0,452.1,0.0,322,5352,0.82,2.42,127.47,0.730,4,0.077,0.058,2866,3380,2203,0,0,0,0,0,0
$GC,5386,0.74,146.0,435.2,13.5,326,5390,0.00,2.30,0.00,0.000,6,0.000,0.044,2874,1981,2201,0,0,0,0,0,0
$GC,5705,0.74,146.0,390.8,14.2,334,5709,0.00,2.33,0.00,0.000,4,0.000,0.065,2885,569,2196,0,0,0,0,0,0
$GC,5754,0.74,146.0,383.6,13.6,335,5758,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1978,2196,0,0,0,0,0,0
$GC,6067,0.74,146.0,340.6,13.4,343,6071,0.00,2.25,0.00,0.000,4,0.000,0.060,2885,3386,2193,0,0,0,0,0,0
$GC,6146,0.74,146.0,329.9,14.4,344,6152,0.00,2.25,0.00,0.000,6,0.000,0.046,2894,1979,2192,0,0,0,0,0,0
$GC,6458,0.74,146.0,289.7,13.1,354,6462,0.00,2.25,0.00,0.000,4,0.000,0.063,2904,570,2192,0,0,0,0,0,0
$GC,6542,0.74,146.0,279.0,12.2,358,6546,0.00,2.20,0.00,0.000,6,0.000,0.040,2904,1992,2190,0,0,0,0,0,0
$GC,6874,0.74,146.0,236.1,12.4,374,6878,0.00,2.20,0.00,0.000,4,0.000,0.054,2904,3392,2191,0,0,0,0,0,0
$GC,6942,0.74,146.0,227.6,11.3,377,6947,0.12,2.22,0.00,0.000,6,0.150,0.046,2878,1975,2190,0,0,0,0,0,0
$GC,7261,0.75,156.3,198.6,8.6,393,7274,0.00,2.22,7.65,0.537,4,0.000,0.058,2887,570,2162,0,0,0,0,0,0
$GC,7333,0.77,176.9,192.4,8.2,399,7363,0.00,2.22,19.42,0.591,6,0.000,0.040,2887,1981,2076,0,0,0,0,0,0
$GC,7683,0.77,176.9,161.8,9.1,432,7687,0.00,2.22,0.00,0.000,4,0.000,0.054,2887,3391,2073,0,0,0,0,0,0
$GC,7811,0.77,176.9,147.7,11.0,443,7815,0.00,2.25,0.00,0.000,6,0.000,0.045,2895,1972,2073,0,0,0,0,0,0
$GC,8138,0.77,176.9,112.1,10.1,473,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1972,2073,0,0,0,0,0,0
$GC,8458,0.81,208.6,84.6,7.7,503,8488,0.00,0.00,27.73,0.506,6,0.000,0.000,2895,1972,1948,0,0,0,0,0,0
$GC,8808,0.89,270.5,56.0,6.5,563,8866,0.00,2.33,53.28,0.483,4,0.000,0.054,2903,564,1696,0,0,0,0,0,0
$GC,8897,0.98,343.1,50.2,6.0,578,8967,0.10,2.25,61.42,0.468,6,0.035,0.036,2987,1977,1399,0,0,0,0,0,0
$STATE,9248,end climb,SURFACE_DEPTH_REACHED
$STATE,9248,begin surface coast
$FINISH,0.6,1.023169
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9349,0.00,0.000,0,0,1393,345.13
$SM_GC,1.36,7.62,0.00,0.00,0.028,0.000,0.000,52,1982,1393,-7.99,0.79,345.13
$IRIDIUM_FIX,2106.38,-15757.32,110902,030305
$TT8_MAMPS,0.028379
$HUMID,66.14
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.5,41.024
$10V_AH,10.4,45.212
$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,19.225,80.900,419.100,0.000,0.000,28.177,35.163,155.835,19.000,0.000,23.358,1167.495,5408.703,440.043,2212.770,475.779,0.000,1241.519,0.000,2156.484,0.000,117.283,0.000
$DEVICE_MAMPS,228.566,72.865,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.470,368.370,1271.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34945,647
$CAP_FILE_SIZE,101688,0
$CFSIZE,260165632,231407616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,082034,2109.168,-15752.336,24,1.3,24,9.8