version: 66.06
glider: 523
mission: 4
dive: 496
start: 6 17 113 11 14 21
data:
$ID,523
$MISSION,4
$DIVE,496
$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,-45898.75
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,110758,2109.288,-15751.866,34,0.8,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.4
$GPS2,111405,2109.285,-15751.896,18,0.9,18,9.8
$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,102.7,16791,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,52,1956,3364,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.7,12,112,9.62,0.00,-0.65,0.000,6,0.229,0.000,2389,1956,3397,0,0,0,0,0,0
$GC,267,-0.74,-146.0,36.0,-14.6,44,275,0.00,2.30,0.00,0.000,4,0.000,0.059,2390,551,3398,0,0,0,0,0,0
$GC,332,-0.74,-146.0,46.0,-16.0,55,338,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1961,3398,0,0,0,0,0,0
$GC,668,-0.74,-146.0,87.8,-10.2,110,672,0.00,2.28,0.00,0.000,4,0.000,0.053,2381,543,3399,0,0,0,0,0,0
$GC,918,-0.74,-146.0,116.9,-9.1,132,926,0.00,2.17,0.00,0.000,6,0.000,0.033,2372,1961,3400,0,0,0,0,0,0
$GC,1245,-0.74,-146.0,146.5,-10.1,163,1250,0.10,2.28,0.00,0.000,4,0.175,0.052,2397,544,3401,0,0,0,0,0,0
$GC,1495,-0.74,-146.0,171.0,-8.9,185,1503,0.00,2.17,0.00,0.000,6,0.000,0.033,2390,1963,3402,0,0,0,0,0,0
$GC,1830,-0.74,-146.0,202.1,-9.5,216,1834,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,551,3402,0,0,0,0,0,0
$GC,1952,-0.74,-146.0,213.5,-9.5,221,1956,0.00,2.15,0.00,0.000,6,0.000,0.033,2380,1966,3401,0,0,0,0,0,0
$GC,2270,-0.74,-146.0,239.0,-7.4,236,2274,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,549,3402,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,257.3,-9.2,245,2479,0.12,2.12,0.00,0.000,6,0.165,0.035,2403,1956,3402,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,281.3,-7.6,261,2801,0.00,2.22,0.00,0.000,4,0.000,0.055,2394,3363,3402,0,0,0,0,0,0
$GC,2898,-0.74,-146.0,288.9,-7.4,265,2903,0.00,2.20,0.00,0.000,6,0.000,0.042,2394,1960,3402,0,0,0,0,0,0
$GC,3235,-0.74,-146.0,312.6,-7.4,278,3239,0.00,2.28,0.00,0.000,4,0.000,0.055,2394,541,3401,0,0,0,0,0,0
$GC,3477,-0.74,-146.0,331.7,-8.0,283,3481,0.00,2.15,0.00,0.000,6,0.000,0.036,2384,1961,3400,0,0,0,0,0,0
$GC,3822,-0.74,-146.0,356.2,-7.1,292,3826,0.00,2.30,0.00,0.000,4,0.000,0.055,2384,548,3399,0,0,0,0,0,0
$GC,3947,-0.74,-146.0,366.8,-8.5,294,3953,0.00,2.17,0.00,0.000,6,0.000,0.037,2374,1960,3398,0,0,0,0,0,0
$GC,4279,-0.74,-146.0,394.2,-8.3,303,4283,0.00,2.30,0.00,0.000,4,0.000,0.058,2375,548,3396,0,0,0,0,0,0
$GC,4364,-0.74,-146.0,401.8,-8.9,305,4369,0.12,2.20,0.00,0.000,6,0.163,0.039,2397,1966,3395,0,0,0,0,0,0
$GC,4692,-0.74,-146.0,423.9,-6.1,313,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1968,3393,0,0,0,0,0,0
$GC,5014,-0.74,-146.0,443.0,-5.8,321,5018,0.00,2.22,0.00,0.000,4,0.000,0.058,2389,3362,3391,0,0,0,0,0,0
$GC,5064,-0.74,-146.0,446.1,-6.7,322,5068,0.00,2.22,0.00,0.000,6,0.000,0.043,2389,1956,3391,0,0,0,0,0,0
$STATE,5131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5131,begin apogee
$GC,5137,-0.17,0.0,450.3,6.2,324,5262,0.60,0.00,121.62,0.759,6,0.119,0.000,2579,1957,2800,0,0,0,0,0,0
$STATE,5263,end apogee,CONTROL_FINISHED_OK
$STATE,5263,begin climb
$GC,5266,0.74,146.0,450.6,0.0,327,5404,0.85,2.38,126.85,0.733,4,0.078,0.051,2872,3378,2203,0,0,0,0,0,0
$GC,5426,0.74,146.0,432.8,14.6,330,5432,0.00,2.30,0.00,0.000,6,0.000,0.044,2881,1977,2201,0,0,0,0,0,0
$GC,5758,0.74,146.0,385.7,14.4,339,5762,0.00,2.30,0.00,0.000,4,0.000,0.057,2881,3386,2195,0,0,0,0,0,0
$GC,5807,0.74,146.0,377.8,15.7,340,5811,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1976,2194,0,0,0,0,0,0
$GC,6120,0.74,146.0,334.0,13.4,348,6124,0.00,2.28,0.00,0.000,4,0.000,0.060,2901,566,2193,0,0,0,0,0,0
$GC,6148,0.74,146.0,330.3,13.2,348,6152,0.00,2.22,0.00,0.000,6,0.000,0.039,2901,1981,2192,0,0,0,0,0,0
$GC,6460,0.74,146.0,289.7,13.6,357,6464,0.00,2.22,0.00,0.000,4,0.000,0.054,2901,3389,2191,0,0,0,0,0,0
$GC,6567,0.74,146.0,274.4,15.2,362,6572,0.12,2.25,0.00,0.000,6,0.153,0.049,2876,1980,2190,0,0,0,0,0,0
$GC,6894,0.74,150.7,241.2,8.8,378,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2189,0,0,0,0,0,0
$GC,7203,0.74,150.7,213.9,10.0,393,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1980,2188,0,0,0,0,0,0
$GC,7520,0.74,150.7,183.1,9.9,416,7524,0.00,2.28,0.00,0.000,4,0.000,0.055,2876,3394,2187,0,0,0,0,0,0
$GC,7583,0.74,150.7,176.2,11.4,421,7587,0.00,2.25,0.00,0.000,6,0.000,0.048,2882,1969,2187,0,0,0,0,0,0
$GC,7911,0.74,151.9,145.9,9.0,451,7915,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,562,2186,0,0,0,0,0,0
$GC,7942,0.74,152.4,142.9,9.0,453,7946,0.00,2.22,0.00,0.000,6,0.000,0.039,2893,1993,2186,0,0,0,0,0,0
$GC,8269,0.74,152.4,111.4,9.5,483,8273,0.00,2.20,0.00,0.000,4,0.000,0.053,2893,3392,2186,0,0,0,0,0,0
$GC,8342,0.74,152.4,103.8,10.3,489,8346,0.00,2.25,0.00,0.000,6,0.000,0.045,2901,1971,2186,0,0,0,0,0,0
$GC,8673,0.77,176.2,73.8,8.0,525,8702,0.00,2.20,24.02,0.494,4,0.000,0.055,2911,569,2080,0,0,0,0,0,0
$GC,8818,0.78,183.6,62.2,8.7,551,8831,0.00,2.17,7.85,0.426,6,0.000,0.038,2911,1979,2050,0,0,0,0,0,0
$GC,9157,0.80,198.0,33.2,8.4,613,9181,0.00,2.25,13.75,0.439,4,0.000,0.051,2911,3389,1991,0,0,0,0,0,0
$GC,9268,0.80,198.0,21.6,10.3,633,9276,0.00,2.25,0.00,0.000,6,0.000,0.043,2920,1982,1990,0,0,0,0,0,0
$GC,9441,0.83,224.6,5.9,7.9,664,9474,0.00,2.28,23.77,0.433,4,0.000,0.056,2930,573,1883,0,0,0,0,0,0
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9480,begin surface coast
$FINISH,0.6,1.023348
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9529,35.15,0.424,0,0,1576,300.24
$SM_GC,1.46,0.00,0.00,35.15,0.000,0.000,0.424,25,1972,1576,-8.18,0.42,300.24
$IRIDIUM_FIX,2101.76,-15755.17,110902,080826
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,41.187
$10V_AH,10.4,45.409
$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,18.975,89.450,317.875,35.150,0.000,24.506,47.646,156.967,19.000,0.000,19.398,1235.428,5539.507,398.038,2265.886,489.683,0.000,1202.805,0.000,2213.126,0.000,121.564,0.000
$DEVICE_MAMPS,229.333,59.826,758.563,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,458.025,394.956,1331.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38047,675
$CAP_FILE_SIZE,105762,0
$CFSIZE,260165632,231301120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,135528,2109.198,-15750.833,63,0.9,63,9.8