version: 66.06
glider: 523
mission: 4
dive: 554
start: 6 24 113 14 45 47
data:
$ID,523
$MISSION,4
$DIVE,554
$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,-47067.477
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,143922,2106.838,-15744.686,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.1
$GPS2,144530,2106.847,-15744.761,17,1.0,17,9.8
$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,111.2,3715,-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,-76.00,0.000,2,0.000,0.000,35,1979,3361,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.6,12,115,9.60,2.38,-0.77,0.000,4,0.223,0.069,2389,538,3397,0,0,0,0,0,0
$GC,285,-0.74,-146.0,37.9,-15.4,46,292,0.00,2.22,0.00,0.000,6,0.000,0.036,2381,1963,3398,0,0,0,0,0,0
$GC,621,-0.74,-146.0,82.9,-12.2,105,625,0.00,2.28,0.00,0.000,4,0.000,0.054,2380,538,3399,0,0,0,0,0,0
$GC,786,-0.74,-146.0,103.9,-13.4,119,791,0.12,2.17,0.00,0.000,6,0.168,0.035,2402,1960,3400,0,0,0,0,0,0
$GC,1114,-0.74,-146.0,134.2,-8.5,149,1118,0.00,2.28,0.00,0.000,4,0.000,0.053,2403,541,3401,0,0,0,0,0,0
$GC,1179,-0.74,-146.0,140.8,-9.6,154,1187,0.00,2.17,0.00,0.000,6,0.000,0.035,2395,1952,3401,0,0,0,0,0,0
$GC,1507,-0.74,-146.0,172.6,-9.0,185,1511,0.00,2.25,0.00,0.000,4,0.000,0.053,2395,535,3402,0,0,0,0,0,0
$GC,1758,-0.74,-146.0,199.2,-9.9,207,1765,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1961,3402,0,0,0,0,0,0
$GC,2085,-0.74,-146.0,226.5,-6.9,224,2089,0.00,2.25,0.00,0.000,4,0.000,0.051,2385,538,3402,0,0,0,0,0,0
$GC,2199,-0.74,-146.0,235.6,-8.5,229,2203,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1961,3403,0,0,0,0,0,0
$GC,2527,-0.74,-146.0,264.5,-7.9,245,2534,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,541,3402,0,0,0,0,0,0
$GC,2726,-0.74,-146.0,281.0,-9.3,253,2732,0.12,2.17,0.00,0.000,6,0.160,0.035,2399,1962,3402,0,0,0,0,0,0
$GC,3044,-0.74,-146.0,303.6,-6.4,268,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1962,3402,0,0,0,0,0,0
$GC,3367,-0.74,-146.0,324.2,-6.8,276,3371,0.00,2.30,0.00,0.000,4,0.000,0.054,2399,541,3402,0,0,0,0,0,0
$GC,3479,-0.74,-146.0,332.5,-7.0,278,3483,0.00,2.17,0.00,0.000,6,0.000,0.035,2392,1956,3402,0,0,0,0,0,0
$GC,3822,-0.74,-146.0,352.8,-5.7,287,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1957,3401,0,0,0,0,0,0
$GC,4149,-0.74,-146.0,376.5,-8.1,295,4153,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,3365,3398,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,389.1,-8.3,298,4304,0.00,2.28,0.00,0.000,6,0.000,0.046,2380,1949,3398,0,0,0,0,0,0
$GC,4644,-0.74,-146.0,414.8,-7.0,307,4649,0.00,2.28,0.00,0.000,4,0.000,0.059,2381,545,3396,0,0,0,0,0,0
$GC,4769,-0.74,-146.0,422.4,-5.9,309,4774,0.12,2.17,0.00,0.000,6,0.160,0.038,2404,1957,3394,0,0,0,0,0,0
$GC,5102,-0.74,-146.0,437.4,-5.0,317,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1957,3393,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5309,-0.17,0.0,451.2,6.9,322,5434,0.55,0.00,122.57,0.760,6,0.111,0.000,2584,1958,2799,0,0,0,0,0,0
$STATE,5435,end apogee,CONTROL_FINISHED_OK
$STATE,5435,begin climb
$GC,5438,0.74,146.0,453.6,0.0,325,5576,0.82,2.38,127.43,0.736,4,0.074,0.058,2871,3379,2203,0,0,0,0,0,0
$GC,5621,0.74,146.0,435.6,14.0,329,5625,0.00,2.33,0.00,0.000,6,0.000,0.045,2880,1977,2199,0,0,0,0,0,0
$GC,5969,0.74,146.0,386.7,14.1,338,5973,0.00,2.33,0.00,0.000,4,0.000,0.065,2890,567,2196,0,0,0,0,0,0
$GC,5996,0.74,146.0,382.9,13.9,338,6000,0.00,2.20,0.00,0.000,6,0.000,0.040,2891,1980,2195,0,0,0,0,0,0
$GC,6328,0.74,146.0,342.5,11.8,346,6332,0.00,2.25,0.00,0.000,4,0.000,0.060,2891,3392,2193,0,0,0,0,0,0
$GC,6450,0.74,146.0,325.7,14.0,348,6456,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1979,2192,0,0,0,0,0,0
$GC,6763,0.74,146.0,289.3,10.7,358,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2192,0,0,0,0,0,0
$GC,7071,0.74,146.0,254.6,11.4,373,7075,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,3384,2190,0,0,0,0,0,0
$GC,7133,0.74,146.0,247.1,13.0,375,7139,0.12,2.25,0.00,0.000,6,0.150,0.049,2874,1979,2190,0,0,0,0,0,0
$GC,7449,0.74,146.0,210.4,11.5,391,7453,0.00,2.25,0.00,0.000,4,0.000,0.060,2883,566,2189,0,0,0,0,0,0
$GC,7483,0.74,146.0,206.5,11.6,392,7488,0.00,2.22,0.00,0.000,6,0.000,0.042,2884,1977,2188,0,0,0,0,0,0
$GC,7812,0.76,166.5,179.1,8.2,420,7836,0.00,2.25,16.30,0.575,4,0.000,0.052,2884,3390,2120,0,0,0,0,0,0
$GC,7984,0.76,166.5,160.1,10.9,435,7991,0.00,2.25,0.00,0.000,6,0.000,0.041,2893,1977,2118,0,0,0,0,0,0
$GC,8311,0.77,171.0,127.2,8.8,466,8324,0.00,2.28,5.25,0.433,4,0.000,0.059,2899,573,2102,0,0,0,0,0,0
$GC,8338,0.77,171.0,124.7,9.4,468,8342,0.00,2.22,0.00,0.000,6,0.000,0.043,2900,1987,2101,0,0,0,0,0,0
$GC,8667,0.77,171.3,95.4,9.0,498,8671,0.00,2.20,0.00,0.000,4,0.000,0.052,2900,3399,2101,0,0,0,0,0,0
$GC,8751,0.77,173.8,87.4,8.9,505,8764,0.00,2.25,4.35,0.375,6,0.000,0.048,2908,1974,2090,0,0,0,0,0,0
$GC,9088,0.78,184.4,57.1,8.6,559,9105,0.00,2.28,10.80,0.449,4,0.000,0.058,2907,3397,2046,0,0,0,0,0,0
$GC,9189,0.78,184.4,48.2,9.3,577,9195,0.00,2.25,0.00,0.000,6,0.000,0.046,2916,1977,2045,0,0,0,0,0,0
$GC,9521,0.84,232.0,20.1,7.1,638,9568,0.00,2.30,41.40,0.452,4,0.000,0.054,2916,3396,1854,0,0,0,0,0,0
$GC,9604,0.86,243.1,13.6,8.6,651,9625,0.00,2.30,11.07,0.410,6,0.000,0.047,2925,1979,1807,0,0,0,0,0,0
$STATE,9709,end climb,SURFACE_DEPTH_REACHED
$STATE,9709,begin surface coast
$FINISH,0.6,1.023176
$STATE,9738,end surface coast,CONTROL_FINISHED_OK
$STATE,9738,begin surface
$SM_CCo,9757,28.12,0.420,0,0,1574,300.24
$SM_GC,1.24,0.00,0.00,28.12,0.000,0.000,0.420,35,1968,1574,-8.14,0.31,300.24
$IRIDIUM_FIX,2059.45,-15738.45,180902,111123
$TT8_MAMPS,0.027612
$HUMID,65.31
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,47.161
$10V_AH,10.3,51.439
$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,18.900,85.575,339.175,28.125,0.000,30.657,40.805,155.965,19.000,0.000,18.190,1233.336,5776.061,401.410,2240.653,497.945,0.000,1205.216,0.000,2189.515,0.000,119.689,0.000
$DEVICE_MAMPS,223.197,69.030,760.097,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,457.890,391.175,1338.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38155,675
$CAP_FILE_SIZE,104025,0
$CFSIZE,260165632,228290560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,172948,2106.584,-15744.185,16,1.4,16,9.8