version: 66.06
glider: 523
mission: 4
dive: 556
start: 6 24 113 20 43 29
data:
$ID,523
$MISSION,4
$DIVE,556
$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,-47104.449
$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,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
$GPS1,203704,2106.759,-15742.495,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.8
$GPS2,204313,2106.760,-15742.440,18,0.8,19,9.8
$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,208.3,20804,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-83.18,0.000,6,0.000,0.000,46,1946,3396,0,0,0,0,0,0
$GC,112,-0.74,-146.0,4.0,-6.2,14,127,9.52,2.22,0.00,0.000,4,0.222,0.046,2386,3368,3397,0,0,0,0,0,0
$GC,328,-0.74,-146.0,43.8,-14.9,53,333,0.00,2.22,0.00,0.000,6,0.000,0.042,2386,1955,3399,0,0,0,0,0,0
$GC,661,-0.74,-146.0,85.8,-10.9,109,665,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,3366,3400,0,0,0,0,0,0
$GC,897,-0.74,-146.0,112.2,-11.5,130,901,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1957,3401,0,0,0,0,0,0
$GC,1225,-0.74,-146.0,146.3,-10.5,160,1228,0.00,2.22,0.00,0.000,4,0.000,0.053,2377,545,3402,0,0,0,0,0,0
$GC,1337,-0.74,-146.0,159.1,-11.6,170,1342,0.12,2.17,0.00,0.000,6,0.166,0.033,2398,1973,3401,0,0,0,0,0,0
$GC,1664,-0.74,-146.0,191.2,-9.3,200,1668,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,544,3402,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,202.9,-10.3,208,1771,0.00,2.15,0.00,0.000,6,0.000,0.034,2391,1963,3402,0,0,0,0,0,0
$GC,2099,-0.74,-146.0,227.9,-7.3,224,2103,0.00,2.25,0.00,0.000,4,0.000,0.051,2391,545,3402,0,0,0,0,0,0
$GC,2360,-0.74,-146.0,250.8,-8.4,235,2364,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1966,3403,0,0,0,0,0,0
$GC,2678,-0.74,-146.0,272.0,-6.8,250,2682,0.00,2.30,0.00,0.000,4,0.000,0.051,2381,537,3402,0,0,0,0,0,0
$GC,2886,-0.74,-146.0,290.8,-7.8,259,2891,0.12,2.17,0.00,0.000,6,0.163,0.035,2404,1959,3402,0,0,0,0,0,0
$GC,3208,-0.74,-146.0,312.5,-6.8,271,3212,0.00,2.28,0.00,0.000,4,0.000,0.053,2404,541,3402,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,325.4,-7.8,274,3369,0.00,2.17,0.00,0.000,6,0.000,0.036,2396,1956,3401,0,0,0,0,0,0
$GC,3704,-0.74,-146.0,344.0,-4.4,283,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1956,3400,0,0,0,0,0,0
$GC,4029,-0.74,-146.0,357.0,-4.8,291,4033,0.00,2.30,0.00,0.000,4,0.000,0.055,2396,545,3399,0,0,0,0,0,0
$GC,4135,-0.74,-146.0,364.9,-7.5,293,4140,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1963,3397,0,0,0,0,0,0
$GC,4485,-0.74,-146.0,394.5,-8.5,302,4490,0.00,2.25,0.00,0.000,4,0.000,0.060,2376,3362,3395,0,0,0,0,0,0
$GC,4586,-0.74,-146.0,401.9,-7.0,304,4590,0.00,2.25,0.00,0.000,6,0.000,0.044,2376,1955,3395,0,0,0,0,0,0
$GC,4902,-0.74,-146.0,422.5,-7.0,312,4906,0.00,2.28,0.00,0.000,4,0.000,0.059,2376,544,3394,0,0,0,0,0,0
$GC,5160,-0.74,-146.0,446.6,-8.2,317,5166,0.12,2.20,0.00,0.000,6,0.162,0.038,2399,1961,3392,0,0,0,0,0,0
$STATE,5246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5246,begin apogee
$GC,5252,-0.17,0.0,452.3,6.6,320,5378,0.57,0.00,122.60,0.752,6,0.112,0.000,2586,1962,2799,0,0,0,0,0,0
$STATE,5379,end apogee,CONTROL_FINISHED_OK
$STATE,5379,begin climb
$GC,5382,0.74,146.0,452.8,0.0,323,5520,0.82,2.38,127.10,0.727,4,0.074,0.058,2876,3382,2203,0,0,0,0,0,0
$GC,5610,0.74,146.0,425.3,15.2,328,5614,0.00,2.30,0.00,0.000,6,0.000,0.045,2885,1979,2199,0,0,0,0,0,0
$GC,5958,0.74,146.0,379.2,13.1,337,5962,0.00,2.30,0.00,0.000,4,0.000,0.057,2885,3388,2195,0,0,0,0,0,0
$GC,6014,0.74,146.0,371.5,13.7,338,6018,0.00,2.22,0.00,0.000,6,0.000,0.040,2894,1978,2194,0,0,0,0,0,0
$GC,6362,0.74,146.0,324.2,13.7,347,6366,0.00,2.28,0.00,0.000,4,0.000,0.060,2904,570,2194,0,0,0,0,0,0
$GC,6389,0.74,146.0,320.3,13.9,347,6393,0.00,2.20,0.00,0.000,6,0.000,0.042,2904,1976,2193,0,0,0,0,0,0
$GC,6702,0.74,146.0,278.0,13.9,358,6706,0.00,2.22,0.00,0.000,4,0.000,0.051,2904,3398,2192,0,0,0,0,0,0
$GC,6764,0.74,146.0,269.3,14.3,361,6769,0.12,2.25,0.00,0.000,6,0.150,0.042,2880,1978,2192,0,0,0,0,0,0
$GC,7096,0.74,146.0,228.6,11.0,377,7100,0.00,2.28,0.00,0.000,4,0.000,0.059,2889,560,2191,0,0,0,0,0,0
$GC,7113,0.74,146.0,226.8,10.4,377,7119,0.00,2.22,0.00,0.000,6,0.000,0.039,2889,1984,2191,0,0,0,0,0,0
$GC,7432,0.77,173.1,197.1,7.9,394,7461,0.00,0.00,22.05,0.594,6,0.000,0.000,2889,1984,2095,0,0,0,0,0,0
$GC,7781,0.77,173.1,166.9,10.5,427,7785,0.00,2.25,0.00,0.000,4,0.000,0.052,2888,3387,2091,0,0,0,0,0,0
$GC,7920,0.77,173.1,153.0,9.9,439,7925,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1978,2091,0,0,0,0,0,0
$GC,8249,0.77,173.1,123.7,9.6,469,8253,0.00,2.33,0.00,0.000,4,0.000,0.061,2898,3389,2091,0,0,0,0,0,0
$GC,8356,0.77,173.1,111.9,11.2,478,8363,0.00,2.28,0.00,0.000,6,0.000,0.048,2906,1982,2091,0,0,0,0,0,0
$GC,8684,0.77,173.1,80.2,9.2,509,8688,0.00,2.28,0.00,0.000,4,0.000,0.058,2907,3382,2091,0,0,0,0,0,0
$GC,8728,0.77,173.1,75.3,11.1,516,8736,0.00,2.28,0.00,0.000,6,0.000,0.049,2913,1981,2091,0,0,0,0,0,0
$GC,9063,0.84,231.5,49.9,6.6,577,9121,0.00,2.33,50.60,0.479,4,0.000,0.057,2923,568,1855,0,0,0,0,0,0
$GC,9138,0.88,266.0,44.2,7.6,590,9180,0.00,2.25,31.00,0.461,6,0.000,0.040,2923,1974,1714,0,0,0,0,0,0
$GC,9504,0.91,286.4,12.6,8.2,657,9532,0.00,2.30,18.52,0.425,4,0.000,0.054,2923,3390,1630,0,0,0,0,0,0
$GC,9602,0.91,286.4,3.1,10.2,674,9610,0.00,2.30,0.00,0.000,6,0.000,0.049,2932,1986,1629,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,0.6,1.010805
$STATE,9643,end surface coast,CONTROL_FINISHED_OK
$STATE,9643,begin surface
$SM_CCo,9662,10.23,0.393,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,10.23,0.000,0.000,0.393,31,1953,1575,-8.16,-0.11,300.24
$IRIDIUM_FIX,2057.14,-15759.05,180902,171704
$TT8_MAMPS,0.028379
$HUMID,65.90
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,47.356
$10V_AH,10.2,51.647
$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,18.825,89.975,371.875,10.225,0.000,25.489,34.054,168.214,19.000,0.000,20.039,1257.529,5535.866,404.457,2333.598,505.168,0.000,1262.383,0.000,2282.126,0.000,124.240,0.000
$DEVICE_MAMPS,221.663,228.566,751.660,392.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.309,393.856,1338.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38125,681
$CAP_FILE_SIZE,107781,0
$CFSIZE,260165632,228184064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,232542,2106.274,-15741.962,21,1.6,21,9.8