version: 66.06
glider: 523
mission: 4
dive: 501
start: 6 18 113 1 29 11
data:
$ID,523
$MISSION,4
$DIVE,501
$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,-45984.238
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,011932,2108.518,-15747.390,17,1.1,17,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.0
$GPS2,012854,2108.524,-15747.305,14,1.5,14,9.8
$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,113.7,9090,-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,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-82.57,0.000,2,0.000,0.000,28,1969,3348,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.1,-4.5,13,119,9.62,0.00,-1.05,0.000,6,0.223,0.000,2395,1967,3398,0,0,0,0,0,0
$GC,281,-0.74,-146.0,34.1,-14.6,45,287,0.00,2.28,0.00,0.000,4,0.000,0.054,2396,548,3399,0,0,0,0,0,0
$GC,363,-0.74,-146.0,47.4,-15.0,60,370,0.00,2.20,0.00,0.000,6,0.000,0.038,2388,1950,3399,0,0,0,0,0,0
$GC,698,-0.74,-146.0,90.2,-12.2,113,702,0.00,2.25,0.00,0.000,4,0.000,0.054,2388,546,3400,0,0,0,0,0,0
$GC,947,-0.74,-146.0,122.0,-12.1,135,955,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1958,3401,0,0,0,0,0,0
$GC,1275,-0.74,-146.0,160.0,-10.8,166,1279,0.00,2.28,0.00,0.000,4,0.000,0.051,2378,540,3401,0,0,0,0,0,0
$GC,1527,-0.74,-146.0,184.8,-8.3,189,1535,0.12,2.15,0.00,0.000,6,0.164,0.035,2402,1965,3402,0,0,0,0,0,0
$GC,1868,-0.74,-146.0,207.0,-8.0,217,1872,0.00,2.28,0.00,0.000,4,0.000,0.051,2402,537,3402,0,0,0,0,0,0
$GC,2060,-0.74,-146.0,225.1,-8.9,225,2065,0.00,2.17,0.00,0.000,6,0.000,0.035,2394,1965,3402,0,0,0,0,0,0
$GC,2379,-0.74,-146.0,245.5,-5.5,241,2383,0.00,2.22,0.00,0.000,4,0.000,0.056,2382,3361,3402,0,0,0,0,0,0
$GC,2431,-0.74,-146.0,248.7,-5.9,243,2435,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,1953,3401,0,0,0,0,0,0
$GC,2754,-0.74,-146.0,273.9,-8.6,259,2758,0.00,2.25,0.00,0.000,4,0.000,0.056,2383,541,3402,0,0,0,0,0,0
$GC,2854,-0.74,-146.0,283.0,-9.1,263,2858,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1960,3402,0,0,0,0,0,0
$GC,3192,-0.74,-146.0,311.0,-8.5,276,3196,0.00,2.30,0.00,0.000,4,0.000,0.056,2374,548,3401,0,0,0,0,0,0
$GC,3444,-0.74,-146.0,333.5,-9.5,281,3449,0.12,2.17,0.00,0.000,6,0.163,0.039,2397,1962,3399,0,0,0,0,0,0
$GC,3789,-0.74,-146.0,359.6,-7.2,290,3794,0.00,2.25,0.00,0.000,4,0.000,0.058,2389,3366,3399,0,0,0,0,0,0
$GC,3816,-0.74,-146.0,361.7,-6.7,290,3820,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1953,3398,0,0,0,0,0,0
$GC,4154,-0.74,-146.0,384.9,-7.2,299,4159,0.00,2.30,0.00,0.000,4,0.000,0.062,2389,537,3396,0,0,0,0,0,0
$GC,4321,-0.74,-146.0,399.5,-9.0,302,4326,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1957,3395,0,0,0,0,0,0
$GC,4661,-0.74,-146.0,425.7,-6.8,311,4665,0.00,2.22,0.00,0.000,4,0.000,0.059,2369,3365,3393,0,0,0,0,0,0
$GC,4694,-0.74,-146.0,428.0,-6.4,311,4700,0.12,2.25,0.00,0.000,6,0.146,0.046,2402,1953,3392,0,0,0,0,0,0
$GC,5027,-0.74,-146.0,445.1,-5.1,320,5031,0.00,2.28,0.00,0.000,4,0.000,0.064,2402,548,3391,0,0,0,0,0,0
$STATE,5109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5109,begin apogee
$GC,5118,-0.17,0.0,450.4,6.4,322,5243,0.60,0.00,121.90,0.760,6,0.117,0.000,2586,1982,2799,0,0,0,0,0,0
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin climb
$GC,5247,0.74,146.0,450.8,0.0,325,5385,0.85,2.40,126.72,0.735,4,0.087,0.060,2874,3388,2203,0,0,0,0,0,0
$GC,5522,0.74,146.0,418.5,13.9,331,5527,0.00,2.28,0.00,0.000,6,0.000,0.044,2884,1982,2199,0,0,0,0,0,0
$GC,5871,0.74,146.0,376.9,11.6,340,5875,0.00,2.28,0.00,0.000,4,0.000,0.058,2883,3385,2196,0,0,0,0,0,0
$GC,5920,0.74,146.0,370.7,12.3,341,5925,0.00,2.22,0.00,0.000,6,0.000,0.040,2893,1973,2195,0,0,0,0,0,0
$GC,6234,0.74,146.0,331.3,13.4,349,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1973,2193,0,0,0,0,0,0
$GC,6539,0.74,146.0,289.6,13.6,358,6543,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,3388,2192,0,0,0,0,0,0
$GC,6571,0.74,146.0,285.1,14.1,359,6577,0.00,2.20,0.00,0.000,6,0.000,0.039,2901,1979,2192,0,0,0,0,0,0
$GC,6887,0.74,146.0,246.9,12.0,375,6891,0.00,2.25,0.00,0.000,4,0.000,0.051,2901,3392,2191,0,0,0,0,0,0
$GC,6949,0.74,146.0,239.0,13.4,378,6954,0.12,2.20,0.00,0.000,6,0.152,0.039,2877,1979,2191,0,0,0,0,0,0
$GC,7282,0.78,184.0,211.8,7.5,394,7316,0.00,0.00,31.58,0.621,6,0.000,0.000,2877,1979,2049,0,0,0,0,0,0
$GC,7636,0.80,195.4,183.3,8.6,419,7651,0.00,2.28,10.65,0.548,4,0.000,0.054,2886,570,2002,0,0,0,0,0,0
$GC,7705,0.80,195.4,176.5,9.9,425,7713,0.00,2.20,0.00,0.000,6,0.000,0.034,2886,1981,2001,0,0,0,0,0,0
$GC,8032,0.80,195.4,142.8,10.7,456,8036,0.00,2.22,0.00,0.000,4,0.000,0.052,2886,3382,1999,0,0,0,0,0,0
$GC,8170,0.80,195.4,127.4,10.9,468,8174,0.00,2.20,0.00,0.000,6,0.000,0.040,2895,1971,1999,0,0,0,0,0,0
$GC,8499,0.80,195.4,97.3,9.2,498,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1971,1999,0,0,0,0,0,0
$GC,8830,0.85,236.6,69.1,7.3,541,8877,0.00,2.33,36.25,0.497,4,0.000,0.051,2896,3383,1833,0,0,0,0,0,0
$GC,8913,0.85,236.6,61.3,10.4,555,8918,0.00,2.22,0.00,0.000,6,0.000,0.046,2903,1987,1832,0,0,0,0,0,0
$GC,9244,0.86,248.6,33.4,8.5,616,9264,0.00,2.33,11.48,0.433,4,0.000,0.057,2909,565,1786,0,0,0,0,0,0
$GC,9316,0.90,276.9,27.8,7.9,628,9350,0.00,2.22,25.60,0.449,6,0.000,0.036,2909,1981,1670,0,0,0,0,0,0
$GC,9513,0.94,308.5,11.8,7.7,663,9546,0.00,2.25,27.77,0.436,4,0.000,0.051,2909,3389,1541,0,0,0,0,0,0
$GC,9593,0.94,308.5,4.1,9.5,676,9600,0.00,2.30,0.00,0.000,6,0.000,0.044,2917,1975,1540,0,0,0,0,0,0
$STATE,9613,end climb,SURFACE_DEPTH_REACHED
$STATE,9613,begin surface coast
$FINISH,0.7,1.023117
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9749,0.00,0.000,0,0,1538,309.81
$SM_GC,1.32,7.40,0.00,0.00,0.028,0.000,0.000,34,1973,1538,-8.00,0.48,309.81
$IRIDIUM_FIX,2106.38,-15747.88,120902,010129
$TT8_MAMPS,0.028379
$HUMID,65.19
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,41.662
$10V_AH,10.3,45.903
$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,18.975,89.725,391.950,0.000,0.000,54.929,77.408,227.857,19.000,0.000,14.585,1255.875,5672.250,413.772,2327.416,636.151,0.000,1270.039,0.000,2281.940,0.000,119.205,0.000
$DEVICE_MAMPS,223.197,63.661,760.097,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.645,401.582,1373.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38113,690
$CAP_FILE_SIZE,110093,0
$CFSIZE,260165632,231047168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,041253,2108.330,-15746.185,37,0.9,37,9.8