version: 66.06
glider: 523
mission: 4
dive: 513
start: 6 19 113 15 9 21
data:
$ID,523
$MISSION,4
$DIVE,513
$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,-46234.75
$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,53
$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
$GPS1,142354,2101.290,-15747.168,18,0.9,18,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.4
$GPS2,150905,2101.384,-15747.245,39,0.8,39,9.8
$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,205.4,7852,-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,-146.0,0.0,0.0,0,144,0.00,0.00,-122.53,0.000,6,0.000,0.000,39,1914,3395,0,0,0,0,0,0
$GC,149,-0.74,-146.0,3.7,-5.6,20,164,9.43,2.10,0.00,0.000,4,0.219,0.047,2392,576,3396,0,0,0,0,0,0
$GC,407,-0.74,-146.0,53.8,-15.3,67,412,0.00,2.10,0.00,0.000,6,0.000,0.032,2383,1968,3396,0,0,0,0,0,0
$GC,742,-0.74,-146.0,95.4,-10.5,116,746,0.00,2.22,0.00,0.000,4,0.000,0.051,2383,568,3396,0,0,0,0,0,0
$GC,816,-0.74,-146.0,103.5,-11.0,122,820,0.00,2.10,0.00,0.000,6,0.000,0.031,2374,1962,3396,0,0,0,0,0,0
$GC,1143,-0.74,-146.0,141.8,-9.5,152,1147,0.00,2.20,0.00,0.000,4,0.000,0.049,2374,567,3396,0,0,0,0,0,0
$GC,1394,-0.74,-146.0,167.6,-10.5,174,1402,0.10,2.12,0.00,0.000,6,0.146,0.031,2395,1962,3396,0,0,0,0,0,0
$GC,1722,-0.74,-146.0,190.2,-5.3,205,1726,0.00,2.20,0.00,0.000,4,0.000,0.049,2396,570,3395,0,0,0,0,0,0
$GC,1978,-0.74,-146.0,211.5,-11.1,222,1985,0.00,2.10,0.00,0.000,6,0.000,0.033,2388,1953,3394,0,0,0,0,0,0
$GC,2296,-0.74,-146.0,238.1,-6.1,238,2300,0.00,2.22,0.00,0.000,4,0.000,0.050,2388,568,3394,0,0,0,0,0,0
$GC,2516,-0.74,-146.0,254.7,-6.6,248,2521,0.00,2.10,0.00,0.000,6,0.000,0.034,2378,1955,3392,0,0,0,0,0,0
$GC,2852,-0.74,-146.0,276.2,-6.9,264,2856,0.00,2.20,0.00,0.000,4,0.000,0.054,2369,3365,3391,0,0,0,0,0,0
$GC,2947,-0.74,-146.0,282.3,-6.1,268,2951,0.12,2.15,0.00,0.000,6,0.153,0.041,2401,1985,3391,0,0,0,0,0,0
$GC,3294,-0.74,-146.0,303.6,-7.1,284,3298,0.00,2.30,0.00,0.000,4,0.000,0.055,2401,547,3388,0,0,0,0,0,0
$GC,3552,-0.74,-146.0,324.9,-7.4,289,3561,0.00,2.15,0.00,0.000,6,0.000,0.035,2393,1957,3387,0,0,0,0,0,0
$GC,3885,-0.74,-146.0,351.0,-7.9,298,3889,0.00,2.28,0.00,0.000,4,0.000,0.054,2393,544,3384,0,0,0,0,0,0
$GC,4087,-0.74,-146.0,368.9,-8.7,302,4091,0.00,2.17,0.00,0.000,6,0.000,0.036,2384,1965,3383,0,0,0,0,0,0
$GC,4426,-0.74,-146.0,396.3,-8.3,311,4430,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3361,3380,0,0,0,0,0,0
$GC,4459,-0.74,-146.0,399.1,-7.8,311,4464,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,1955,3380,0,0,0,0,0,0
$GC,4792,-0.74,-146.0,420.1,-5.7,320,4796,0.00,2.22,0.00,0.000,4,0.000,0.058,2373,547,3377,0,0,0,0,0,0
$GC,4870,-0.74,-146.0,425.7,-7.2,321,4875,0.15,2.17,0.00,0.000,6,0.157,0.038,2404,1957,3377,0,0,0,0,0,0
$GC,5204,-0.74,-146.0,445.6,-6.2,329,5208,0.00,2.28,0.00,0.000,4,0.000,0.059,2404,548,3374,0,0,0,0,0,0
$STATE,5264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5264,begin apogee
$GC,5273,-0.17,0.0,450.4,7.7,330,5394,0.55,0.00,117.68,0.754,6,0.120,0.000,2576,1986,2799,0,0,0,0,0,0
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5395,begin climb
$GC,5398,0.74,146.0,453.2,0.0,333,5531,0.85,0.00,125.62,0.732,6,0.077,0.000,2871,1986,2203,0,0,0,0,0,0
$GC,5845,0.74,146.0,406.9,11.8,344,5849,0.00,2.25,0.00,0.000,4,0.000,0.058,2871,3389,2196,0,0,0,0,0,0
$GC,5950,0.74,146.0,394.5,11.3,346,5955,0.00,2.25,0.00,0.000,6,0.000,0.047,2880,1980,2194,0,0,0,0,0,0
$GC,6293,0.74,146.0,350.3,13.0,355,6297,0.00,2.28,0.00,0.000,4,0.000,0.058,2880,3390,2192,0,0,0,0,0,0
$GC,6360,0.74,146.0,341.4,13.6,356,6364,0.00,2.25,0.00,0.000,6,0.000,0.048,2890,1969,2192,0,0,0,0,0,0
$GC,6702,0.74,146.0,302.7,11.1,365,6706,0.00,2.28,0.00,0.000,4,0.000,0.058,2890,3389,2190,0,0,0,0,0,0
$GC,6723,0.74,146.0,300.1,11.8,365,6727,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1973,2190,0,0,0,0,0,0
$GC,7051,0.74,146.0,260.5,13.0,381,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1973,2188,0,0,0,0,0,0
$GC,7359,0.74,146.0,224.9,9.6,396,7363,0.00,2.28,0.00,0.000,4,0.000,0.064,2909,560,2188,0,0,0,0,0,0
$GC,7387,0.74,146.0,222.2,9.9,397,7392,0.12,2.20,0.00,0.000,6,0.139,0.041,2875,1983,2187,0,0,0,0,0,0
$GC,7706,0.74,146.0,196.4,9.5,413,7710,0.00,2.25,0.00,0.000,4,0.000,0.061,2875,3390,2187,0,0,0,0,0,0
$GC,7768,0.74,146.0,190.1,10.3,418,7772,0.00,2.25,0.00,0.000,6,0.000,0.049,2882,1976,2186,0,0,0,0,0,0
$GC,8095,0.74,146.0,160.4,10.2,448,8099,0.00,2.25,0.00,0.000,4,0.000,0.058,2881,3385,2186,0,0,0,0,0,0
$GC,8135,0.74,146.0,156.0,11.5,451,8140,0.00,2.25,0.00,0.000,6,0.000,0.050,2891,1975,2186,0,0,0,0,0,0
$GC,8462,0.75,160.8,122.8,8.4,481,8478,0.00,2.25,11.10,0.509,4,0.000,0.062,2898,565,2142,0,0,0,0,0,0
$GC,8547,0.78,182.9,115.4,8.1,488,8571,0.00,2.17,19.77,0.527,6,0.000,0.038,2898,1979,2054,0,0,0,0,0,0
$GC,8892,0.78,182.9,81.7,9.1,520,8896,0.00,2.25,0.00,0.000,4,0.000,0.061,2897,3385,2049,0,0,0,0,0,0
$GC,9095,0.78,182.9,62.8,9.2,555,9100,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1968,2050,0,0,0,0,0,0
$GC,9426,0.81,201.7,36.0,8.3,616,9449,0.00,2.20,17.05,0.452,4,0.000,0.058,2915,569,1975,0,0,0,0,0,0
$GC,9491,0.83,217.9,30.7,8.4,627,9517,0.00,2.20,15.12,0.439,6,0.000,0.039,2915,1986,1909,0,0,0,0,0,0
$GC,9680,0.88,262.3,14.9,7.2,661,9727,0.00,2.22,38.20,0.444,4,0.000,0.051,2915,3378,1728,0,0,0,0,0,0
$GC,9764,0.88,262.3,8.6,9.7,674,9771,0.00,2.25,0.00,0.000,6,0.000,0.045,2923,1981,1728,0,0,0,0,0,0
$STATE,9834,end climb,SURFACE_DEPTH_REACHED
$STATE,9834,begin surface coast
$FINISH,0.4,1.002191
$STATE,9879,end surface coast,CONTROL_FINISHED_OK
$STATE,9879,begin surface
$SM_CCo,9897,194.02,0.423,0,0,439,578.90
$SM_GC,1.28,0.00,0.00,194.02,0.000,0.000,0.423,31,1976,439,-8.16,0.54,578.90
$IRIDIUM_FIX,2047.91,-15752.63,130902,151526
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.31402
$TCM_TEMP,24.70
$XPDR_PINGS,13
$24V_AH,24.6,43.346
$10V_AH,10.3,47.250
$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,18.700,92.900,344.550,194.025,0.000,150.309,172.634,1901.656,22.000,0.000,39.946,1250.533,6000.897,578.980,2385.467,2581.142,0.000,1456.461,0.000,2311.752,0.000,121.229,0.000
$DEVICE_MAMPS,218.595,64.428,753.961,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.918,411.108,1374.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,38126,695
$CAP_FILE_SIZE,121471,0
$CFSIZE,260165632,230330368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,175833,2100.911,-15747.123,21,1.7,21,9.8