version: 66.06
glider: 523
mission: 4
dive: 591
start: 6 29 113 2 12 41
data:
$ID,523
$MISSION,4
$DIVE,591
$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,-47847.793
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,015934,2109.732,-15749.323,24,1.0,24,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.6
$GPS2,021223,2109.686,-15749.396,18,1.0,18,9.8
$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,112.8,13292,-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,-78.03,0.000,6,0.000,0.000,47,1976,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-4.9,13,118,9.52,2.30,0.00,0.000,4,0.220,0.055,2392,544,3397,0,0,0,0,0,0
$GC,242,-0.74,-146.0,31.0,-15.1,38,249,0.00,2.22,0.00,0.000,6,0.000,0.037,2384,1958,3398,0,0,0,0,0,0
$GC,577,-0.74,-146.0,72.4,-10.7,99,583,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,541,3398,0,0,0,0,0,0
$GC,833,-0.74,-146.0,100.6,-12.4,129,837,0.00,2.17,0.00,0.000,6,0.000,0.036,2375,1962,3400,0,0,0,0,0,0
$GC,1166,-0.74,-146.0,135.6,-9.4,160,1170,0.00,2.33,0.00,0.000,4,0.000,0.056,2375,542,3400,0,0,0,0,0,0
$GC,1330,-0.74,-146.0,153.0,-10.7,174,1335,0.12,2.20,0.00,0.000,6,0.162,0.037,2397,1969,3400,0,0,0,0,0,0
$GC,1657,-0.74,-146.0,184.2,-9.6,204,1661,0.00,2.33,0.00,0.000,4,0.000,0.056,2398,542,3401,0,0,0,0,0,0
$GC,1898,-0.74,-146.0,203.1,-7.4,224,1902,0.00,2.17,0.00,0.000,6,0.000,0.037,2389,1957,3400,0,0,0,0,0,0
$GC,2222,-0.74,-146.0,224.9,-7.5,240,2229,0.00,2.33,0.00,0.000,4,0.000,0.056,2389,540,3401,0,0,0,0,0,0
$GC,2449,-0.74,-146.0,244.9,-8.4,250,2456,0.00,2.20,0.00,0.000,6,0.000,0.037,2380,1967,3401,0,0,0,0,0,0
$GC,2784,-0.74,-146.0,267.7,-7.2,266,2788,0.00,2.25,0.00,0.000,4,0.000,0.061,2370,3364,3400,0,0,0,0,0,0
$GC,2851,-0.74,-146.0,273.3,-7.8,269,2856,0.12,2.22,0.00,0.000,6,0.148,0.046,2402,1953,3400,0,0,0,0,0,0
$GC,3172,-0.74,-146.0,298.9,-8.3,285,3176,0.00,2.28,0.00,0.000,4,0.000,0.061,2403,536,3400,0,0,0,0,0,0
$GC,3381,-0.74,-146.0,316.0,-8.0,290,3385,0.00,2.20,0.00,0.000,6,0.000,0.038,2395,1959,3398,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,335.8,-5.4,298,3718,0.00,2.30,0.00,0.000,4,0.000,0.059,2395,542,3397,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,342.7,-7.0,300,3819,0.00,2.17,0.00,0.000,6,0.000,0.039,2385,1955,3396,0,0,0,0,0,0
$GC,4138,-0.74,-146.0,370.0,-9.7,308,4142,0.00,2.33,0.00,0.000,4,0.000,0.060,2385,539,3393,0,0,0,0,0,0
$GC,4351,-0.74,-146.0,390.7,-8.0,312,4356,0.00,2.22,0.00,0.000,6,0.000,0.040,2376,1967,3393,0,0,0,0,0,0
$GC,4685,-0.74,-146.0,410.7,-5.8,321,4689,0.00,2.35,0.00,0.000,4,0.000,0.060,2376,539,3391,0,0,0,0,0,0
$GC,4906,-0.74,-146.0,425.6,-6.5,326,4911,0.12,2.22,0.00,0.000,6,0.158,0.041,2399,1962,3390,0,0,0,0,0,0
$GC,5234,-0.74,-146.0,441.6,-4.9,334,5238,0.00,2.33,0.00,0.000,4,0.000,0.059,2400,545,3388,0,0,0,0,0,0
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5391,-0.17,0.0,450.0,5.5,337,5516,0.57,0.00,121.68,0.752,6,0.114,0.000,2581,1988,2800,0,0,0,0,0,0
$STATE,5517,end apogee,CONTROL_FINISHED_OK
$STATE,5517,begin climb
$GC,5519,0.74,146.0,452.1,0.0,340,5658,0.85,2.33,127.60,0.729,4,0.073,0.061,2877,3378,2202,0,0,0,0,0,0
$GC,5714,0.74,146.0,432.6,13.2,344,5718,0.00,2.30,0.00,0.000,6,0.000,0.047,2887,1980,2199,0,0,0,0,0,0
$GC,6056,0.74,146.0,391.6,12.0,353,6060,0.00,2.33,0.00,0.000,4,0.000,0.065,2898,561,2196,0,0,0,0,0,0
$GC,6102,0.74,146.0,385.9,12.3,354,6107,0.00,2.25,0.00,0.000,6,0.000,0.041,2898,1994,2195,0,0,0,0,0,0
$GC,6432,0.74,146.0,343.3,13.3,362,6436,0.00,2.25,0.00,0.000,4,0.000,0.063,2897,3384,2194,0,0,0,0,0,0
$GC,6604,0.74,146.0,316.9,14.6,365,6610,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,1979,2192,0,0,0,0,0,0
$GC,6917,0.74,146.0,283.6,10.0,377,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1979,2191,0,0,0,0,0,0
$GC,7227,0.74,146.0,246.6,11.8,392,7231,0.00,2.28,0.00,0.000,4,0.000,0.060,2907,3384,2190,0,0,0,0,0,0
$GC,7367,0.74,146.0,229.9,11.1,398,7371,0.12,2.22,0.00,0.000,6,0.150,0.048,2879,1979,2190,0,0,0,0,0,0
$GC,7687,0.74,146.0,199.4,9.4,414,7691,0.00,2.33,0.00,0.000,4,0.000,0.067,2887,559,2190,0,0,0,0,0,0
$GC,7718,0.74,146.0,196.8,9.6,416,7722,0.00,2.22,0.00,0.000,6,0.000,0.042,2888,1988,2189,0,0,0,0,0,0
$GC,8045,0.75,155.4,169.5,8.6,446,8056,0.00,2.20,6.35,0.485,4,0.000,0.051,2887,3393,2167,0,0,0,0,0,0
$GC,8202,0.75,155.4,154.1,10.0,460,8206,0.00,2.28,0.00,0.000,6,0.000,0.049,2896,1972,2166,0,0,0,0,0,0
$GC,8530,0.75,155.4,124.8,10.2,490,8534,0.00,2.25,0.00,0.000,4,0.000,0.058,2906,567,2166,0,0,0,0,0,0
$GC,8563,0.75,155.4,120.7,11.4,492,8571,0.00,2.25,0.00,0.000,6,0.000,0.044,2907,1975,2165,0,0,0,0,0,0
$GC,8890,0.75,157.9,89.8,8.9,523,8903,0.00,2.28,4.12,0.364,4,0.000,0.052,2907,3401,2155,0,0,0,0,0,0
$GC,9124,0.75,157.9,66.0,10.3,555,9131,0.12,2.28,0.00,0.000,6,0.139,0.046,2877,1969,2155,0,0,0,0,0,0
$GC,9456,0.84,232.3,46.6,5.9,616,9526,0.10,2.33,64.35,0.476,4,0.088,0.057,2962,565,1851,0,0,0,0,0,0
$GC,9602,0.84,232.5,33.5,9.0,641,9609,0.17,2.28,0.00,0.000,6,0.117,0.041,2908,1994,1850,0,0,0,0,0,0
$GC,9927,0.84,232.5,7.9,9.5,702,9934,0.00,2.22,0.00,0.000,4,0.000,0.053,2908,3384,1849,0,0,0,0,0,0
$STATE,9987,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.4,1.002318
$STATE,10030,end surface coast,CONTROL_FINISHED_OK
$STATE,10031,begin surface
$SM_CCo,10051,31.90,0.422,0,0,1575,300.24
$SM_GC,1.29,0.00,0.00,31.90,0.000,0.000,0.422,45,1949,1575,-8.11,-0.23,300.24
$IRIDIUM_FIX,2104.07,-15742.72,230902,020250
$TT8_MAMPS,0.028379
$HUMID,65.08
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.4,50.510
$10V_AH,10.2,55.245
$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,19.225,95.125,324.100,31.900,0.000,81.554,102.702,303.705,19.000,0.000,18.612,1332.489,5776.821,398.222,2548.733,793.855,0.000,1293.884,0.000,2491.762,0.000,119.288,0.000
$DEVICE_MAMPS,220.129,66.729,751.660,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,489.400,413.286,1424.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41265,721
$CAP_FILE_SIZE,118863,0
$CFSIZE,260165632,226328576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,050204,2109.267,-15748.515,39,0.9,39,9.8