version: 66.06
glider: 523
mission: 4
dive: 529
start: 6 21 113 13 59 10
data:
$ID,523
$MISSION,4
$DIVE,529
$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,-46542.863
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,135242,2105.639,-15801.945,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.1
$GPS2,135853,2105.671,-15802.000,17,0.9,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,348.9,4934,-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,-76.00,0.000,2,0.000,0.000,52,1921,3324,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-4.4,12,121,9.52,2.35,-1.62,0.000,4,0.225,0.064,2381,3373,3397,0,0,0,0,0,0
$GC,209,-0.74,-146.0,25.2,-18.3,31,216,0.00,2.22,0.00,0.000,6,0.000,0.042,2381,1976,3398,0,0,0,0,0,0
$GC,380,-0.74,-146.0,52.9,-15.3,62,388,0.00,2.30,0.00,0.000,4,0.000,0.057,2381,549,3399,0,0,0,0,0,0
$GC,478,-0.74,-146.0,68.0,-15.2,79,483,0.00,2.15,0.00,0.000,6,0.000,0.037,2372,1965,3399,0,0,0,0,0,0
$GC,813,-0.74,-146.0,106.7,-10.7,119,817,0.12,2.30,0.00,0.000,4,0.166,0.054,2404,538,3400,0,0,0,0,0,0
$GC,975,-0.74,-146.0,123.6,-10.3,133,979,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1967,3401,0,0,0,0,0,0
$GC,1302,-0.74,-146.0,156.9,-9.6,163,1306,0.00,2.22,0.00,0.000,4,0.000,0.052,2396,545,3401,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,180.2,-11.1,181,1512,0.00,2.15,0.00,0.000,6,0.000,0.036,2387,1963,3402,0,0,0,0,0,0
$GC,1832,-0.74,-146.0,205.1,-7.4,208,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1963,3402,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,230.4,-7.6,223,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1964,3403,0,0,0,0,0,0
$GC,2450,-0.74,-146.0,255.0,-6.3,238,2455,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,537,3403,0,0,0,0,0,0
$GC,2670,-0.74,-146.0,273.5,-8.9,247,2676,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1960,3403,0,0,0,0,0,0
$GC,2988,-0.74,-146.0,297.6,-7.6,263,2992,0.00,2.28,0.00,0.000,4,0.000,0.053,2377,541,3403,0,0,0,0,0,0
$GC,3039,-0.74,-146.0,301.1,-6.5,265,3044,0.12,2.15,0.00,0.000,6,0.160,0.037,2400,1955,3402,0,0,0,0,0,0
$GC,3360,-0.74,-146.0,319.1,-6.1,273,3364,0.00,2.28,0.00,0.000,4,0.000,0.054,2401,544,3402,0,0,0,0,0,0
$GC,3590,-0.74,-146.0,336.9,-9.6,278,3594,0.00,2.15,0.00,0.000,6,0.000,0.038,2393,1956,3402,0,0,0,0,0,0
$GC,3912,-0.74,-146.0,362.9,-8.0,286,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1957,3400,0,0,0,0,0,0
$GC,4235,-0.74,-146.0,380.8,-5.4,294,4239,0.00,2.30,0.00,0.000,4,0.000,0.058,2393,539,3398,0,0,0,0,0,0
$GC,4386,-0.74,-146.0,391.5,-7.8,297,4390,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1956,3397,0,0,0,0,0,0
$GC,4729,-0.74,-146.0,415.5,-6.3,306,4733,0.00,2.25,0.00,0.000,4,0.000,0.061,2373,3363,3395,0,0,0,0,0,0
$GC,4862,-0.74,-146.0,424.3,-6.1,309,4866,0.00,2.22,0.00,0.000,6,0.000,0.048,2373,1950,3395,0,0,0,0,0,0
$GC,5189,-0.74,-146.0,449.2,-7.3,317,5193,0.00,2.25,0.00,0.000,4,0.000,0.064,2373,545,3392,0,0,0,0,0,0
$STATE,5199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5199,begin apogee
$GC,5208,-0.17,0.0,450.1,6.7,317,5333,0.68,0.00,122.00,0.755,6,0.125,0.000,2577,1980,2800,0,0,0,0,0,0
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5337,0.74,146.0,451.5,0.0,320,5475,0.85,2.33,127.47,0.731,4,0.076,0.059,2873,3386,2202,0,0,0,0,0,0
$GC,5520,0.74,146.0,430.4,13.6,324,5524,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1980,2199,0,0,0,0,0,0
$GC,5869,0.74,146.0,387.1,11.8,333,5873,0.00,2.30,0.00,0.000,4,0.000,0.058,2882,3389,2196,0,0,0,0,0,0
$GC,5918,0.74,146.0,379.6,15.1,334,5922,0.00,2.25,0.00,0.000,6,0.000,0.046,2891,1971,2194,0,0,0,0,0,0
$GC,6231,0.74,146.0,341.4,12.2,342,6235,0.00,2.28,0.00,0.000,4,0.000,0.067,2901,570,2193,0,0,0,0,0,0
$GC,6259,0.74,146.0,337.2,14.7,342,6264,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1979,2193,0,0,0,0,0,0
$GC,6571,0.74,146.0,294.9,13.3,350,6575,0.00,2.22,0.00,0.000,4,0.000,0.053,2902,3389,2192,0,0,0,0,0,0
$GC,6756,0.74,146.0,269.2,12.9,358,6761,0.12,2.20,0.00,0.000,6,0.154,0.041,2877,1978,2190,0,0,0,0,0,0
$GC,7071,0.74,146.0,239.7,9.6,373,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1978,2189,0,0,0,0,0,0
$GC,7381,0.74,146.0,211.2,9.5,388,7385,0.00,2.25,0.00,0.000,4,0.000,0.051,2877,3395,2189,0,0,0,0,0,0
$GC,7472,0.74,146.0,201.6,11.4,392,7476,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1973,2189,0,0,0,0,0,0
$GC,7804,0.76,166.4,175.1,8.2,422,7828,0.00,2.30,16.17,0.568,4,0.000,0.053,2886,3391,2120,0,0,0,0,0,0
$GC,7897,0.76,166.4,166.6,9.7,430,7901,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1980,2119,0,0,0,0,0,0
$GC,8224,0.78,180.3,139.2,8.5,460,8248,0.00,2.30,13.40,0.522,4,0.000,0.056,2905,564,2063,0,0,0,0,0,0
$GC,8306,0.78,180.3,131.9,9.5,467,8310,0.00,2.20,0.00,0.000,6,0.000,0.037,2905,1997,2061,0,0,0,0,0,0
$GC,8635,0.78,180.3,102.1,9.3,497,8639,0.00,2.20,0.00,0.000,4,0.000,0.052,2905,3393,2061,0,0,0,0,0,0
$GC,8687,0.78,180.3,96.7,10.7,501,8691,0.00,2.22,0.00,0.000,6,0.000,0.041,2915,1980,2061,0,0,0,0,0,0
$GC,9017,0.80,193.4,65.1,8.5,546,9036,0.00,2.28,12.75,0.461,4,0.000,0.056,2915,3380,2009,0,0,0,0,0,0
$GC,9062,0.80,193.4,61.0,9.6,553,9067,0.00,2.22,0.00,0.000,6,0.000,0.047,2924,1981,2008,0,0,0,0,0,0
$GC,9396,0.81,204.7,32.2,8.6,614,9415,0.00,2.28,11.00,0.426,4,0.000,0.058,2924,3377,1964,0,0,0,0,0,0
$GC,9524,0.84,227.2,22.0,8.1,637,9552,0.00,2.25,20.27,0.438,6,0.000,0.048,2933,1980,1875,0,0,0,0,0,0
$STATE,9712,end climb,SURFACE_DEPTH_REACHED
$STATE,9712,begin surface coast
$FINISH,0.5,1.023223
$STATE,9746,end surface coast,CONTROL_FINISHED_OK
$STATE,9746,begin surface
$SM_CCo,9764,34.60,0.423,0,0,1575,300.24
$SM_GC,1.40,0.00,0.00,34.60,0.000,0.000,0.423,37,1976,1575,-8.14,0.54,300.24
$IRIDIUM_FIX,2101.76,-15805.48,150902,111116
$TT8_MAMPS,0.028379
$HUMID,64.72
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.4,44.922
$10V_AH,10.3,48.899
$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,18.875,89.575,323.075,34.600,0.000,27.122,36.779,168.630,19.250,0.000,17.868,1248.407,5722.904,393.438,2287.635,513.938,0.000,1211.782,0.000,2240.126,0.000,119.225,0.000
$DEVICE_MAMPS,225.498,66.729,755.495,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,459.479,396.285,1337.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38088,677
$CAP_FILE_SIZE,107216,0
$CFSIZE,260165632,229593088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210613,164335,2106.792,-15802.695,27,0.9,27,9.8