version: 66.06
glider: 523
mission: 4
dive: 509
start: 6 19 113 1 8 11
data:
$ID,523
$MISSION,4
$DIVE,509
$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,578.89856
$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,-46140
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,003758,2105.016,-15744.285,75,0.9,75,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.4
$GPS2,010754,2105.094,-15744.258,15,0.8,16,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,206.3,16447,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-76.70,0.000,6,0.000,0.000,50,1974,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.6,13,118,9.40,2.33,0.00,0.000,4,0.219,0.049,2394,535,3398,0,0,0,0,0,0
$GC,291,-0.74,-146.0,43.4,-16.1,48,299,0.00,2.22,0.00,0.000,6,0.000,0.036,2385,1957,3398,0,0,0,0,0,0
$GC,625,-0.74,-146.0,85.6,-12.1,105,629,0.00,2.28,0.00,0.000,4,0.000,0.052,2385,541,3398,0,0,0,0,0,0
$GC,656,-0.74,-146.0,89.5,-11.9,107,663,0.00,2.17,0.00,0.000,6,0.000,0.034,2376,1965,3398,0,0,0,0,0,0
$GC,992,-0.74,-146.0,125.8,-10.6,138,996,0.00,2.30,0.00,0.000,4,0.000,0.051,2376,537,3398,0,0,0,0,0,0
$GC,1055,-0.74,-146.0,133.0,-11.6,143,1060,0.12,2.17,0.00,0.000,6,0.161,0.034,2398,1966,3398,0,0,0,0,0,0
$GC,1383,-0.74,-146.0,162.2,-9.1,173,1387,0.00,2.30,0.00,0.000,4,0.000,0.051,2399,538,3398,0,0,0,0,0,0
$GC,1632,-0.74,-146.0,187.1,-9.8,195,1639,0.00,2.17,0.00,0.000,6,0.000,0.033,2391,1951,3399,0,0,0,0,0,0
$GC,1953,-0.74,-146.0,210.9,-7.5,219,1957,0.00,2.25,0.00,0.000,4,0.000,0.051,2391,547,3398,0,0,0,0,0,0
$GC,2120,-0.74,-146.0,225.8,-9.7,226,2126,0.00,2.15,0.00,0.000,6,0.000,0.033,2381,1962,3398,0,0,0,0,0,0
$GC,2440,-0.74,-146.0,250.9,-7.3,242,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1963,3398,0,0,0,0,0,0
$GC,2747,-0.74,-146.0,275.5,-8.0,257,2751,0.00,2.28,0.00,0.000,4,0.000,0.053,2381,547,3398,0,0,0,0,0,0
$GC,3007,-0.74,-146.0,295.2,-7.8,268,3013,0.12,2.17,0.00,0.000,6,0.160,0.035,2404,1965,3396,0,0,0,0,0,0
$GC,3340,-0.74,-146.0,315.0,-5.7,279,3347,0.00,2.30,0.00,0.000,4,0.000,0.056,2405,543,3394,0,0,0,0,0,0
$GC,3438,-0.74,-146.0,320.6,-5.9,281,3442,0.00,2.17,0.00,0.000,6,0.000,0.036,2397,1963,3393,0,0,0,0,0,0
$GC,3763,-0.74,-146.0,340.1,-6.4,289,3767,0.00,2.30,0.00,0.000,4,0.000,0.057,2397,542,3392,0,0,0,0,0,0
$GC,3802,-0.74,-146.0,342.8,-6.7,290,3806,0.00,2.20,0.00,0.000,6,0.000,0.038,2387,1961,3392,0,0,0,0,0,0
$GC,4130,-0.74,-146.0,365.6,-7.4,298,4134,0.00,2.28,0.00,0.000,4,0.000,0.059,2377,3368,3388,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,377.6,-7.1,301,4297,0.00,2.25,0.00,0.000,6,0.000,0.045,2377,1955,3388,0,0,0,0,0,0
$GC,4631,-0.74,-146.0,400.7,-6.9,310,4635,0.00,2.28,0.00,0.000,4,0.000,0.061,2377,542,3386,0,0,0,0,0,0
$GC,4768,-0.74,-146.0,410.9,-7.1,313,4773,0.12,2.20,0.00,0.000,6,0.163,0.040,2399,1958,3385,0,0,0,0,0,0
$GC,5091,-0.74,-146.0,430.7,-6.4,321,5095,0.00,2.30,0.00,0.000,4,0.000,0.061,2399,545,3383,0,0,0,0,0,0
$GC,5229,-0.74,-146.0,441.6,-7.8,324,5233,0.00,2.20,0.00,0.000,6,0.000,0.042,2392,1956,3382,0,0,0,0,0,0
$STATE,5342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5342,begin apogee
$GC,5348,-0.17,0.0,450.7,7.7,327,5471,0.60,0.00,119.62,0.760,6,0.116,0.000,2584,1956,2800,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5475,0.74,146.0,452.6,0.0,330,5613,0.85,2.38,126.68,0.734,4,0.081,0.051,2874,3402,2202,0,0,0,0,0,0
$GC,5642,0.74,146.0,435.5,13.9,334,5647,0.00,2.33,0.00,0.000,6,0.000,0.041,2883,1979,2201,0,0,0,0,0,0
$GC,5967,0.74,146.0,391.1,13.5,342,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1978,2196,0,0,0,0,0,0
$GC,6292,0.74,146.0,348.9,12.7,350,6296,0.00,2.25,0.00,0.000,4,0.000,0.051,2883,3390,2194,0,0,0,0,0,0
$GC,6314,0.74,146.0,345.6,14.2,350,6318,0.00,2.20,0.00,0.000,6,0.000,0.040,2893,1977,2194,0,0,0,0,0,0
$GC,6656,0.74,146.0,298.9,13.7,359,6660,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,3392,2192,0,0,0,0,0,0
$GC,6702,0.74,146.0,292.6,13.8,361,6706,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1971,2192,0,0,0,0,0,0
$GC,7034,0.74,146.0,255.3,11.6,377,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1971,2191,0,0,0,0,0,0
$GC,7343,0.74,146.0,219.2,11.2,392,7347,0.00,2.28,0.00,0.000,4,0.000,0.058,2901,3395,2190,0,0,0,0,0,0
$GC,7393,0.74,146.0,212.6,13.1,394,7398,0.12,2.25,0.00,0.000,6,0.150,0.049,2875,1978,2189,0,0,0,0,0,0
$GC,7718,0.75,160.3,182.1,8.4,418,7734,0.00,2.25,11.10,0.561,4,0.000,0.061,2884,569,2146,0,0,0,0,0,0
$GC,7764,0.75,160.3,177.9,9.2,422,7768,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1991,2145,0,0,0,0,0,0
$GC,8092,0.78,179.3,151.0,8.2,452,8116,0.00,2.20,17.65,0.558,4,0.000,0.052,2884,3391,2068,0,0,0,0,0,0
$GC,8142,0.78,184.5,146.5,8.8,456,8155,0.00,2.22,6.30,0.471,6,0.000,0.043,2893,1978,2046,0,0,0,0,0,0
$GC,8476,0.78,184.5,114.5,9.6,487,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1977,2043,0,0,0,0,0,0
$GC,8805,0.81,207.0,86.6,8.1,518,8828,0.00,0.00,20.17,0.505,6,0.000,0.000,2893,1978,1955,0,0,0,0,0,0
$GC,9149,0.83,223.9,60.8,8.3,574,9172,0.00,2.28,15.77,0.472,4,0.000,0.058,2893,573,1886,0,0,0,0,0,0
$GC,9203,0.86,246.6,56.5,8.1,583,9232,0.00,2.17,21.00,0.473,6,0.000,0.037,2893,1982,1793,0,0,0,0,0,0
$GC,9559,0.93,303.0,27.5,6.7,648,9620,0.12,2.28,48.90,0.457,4,0.076,0.051,2992,3389,1562,0,0,0,0,0,0
$GC,9672,0.93,303.0,11.6,17.0,666,9681,0.17,2.28,0.00,0.000,6,0.114,0.044,2943,1987,1561,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,0.9,1.023104
$STATE,9750,end surface coast,CONTROL_FINISHED_OK
$STATE,9753,begin surface
$SM_CCo,9771,180.55,0.430,0,0,439,578.90
$SM_GC,1.16,0.00,0.00,180.55,0.000,0.000,0.430,29,1954,439,-8.16,-0.08,578.90
$IRIDIUM_FIX,2101.76,-15743.60,130902,010119
$TT8_MAMPS,0.027612
$HUMID,62.87
$INTERNAL_PRESSURE,9.28472
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.5,42.507
$10V_AH,10.3,46.735
$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,19.050,85.350,387.200,180.550,0.000,138.550,230.131,982.557,19.250,0.000,16.612,1237.804,5966.009,579.274,2258.850,1702.739,0.000,1418.291,0.000,2213.337,0.000,117.297,0.000
$DEVICE_MAMPS,219.362,227.032,760.097,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.682,390.069,1324.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,38257,680
$CAP_FILE_SIZE,117492,0
$CFSIZE,260165632,230588416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,035504,2104.410,-15744.480,22,1.1,22,9.8