version: 66.06
glider: 523
mission: 4
dive: 58
start: 5 1 113 5 18 45
data:
$ID,523
$MISSION,4
$DIVE,58
$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,-37039.398
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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
$GPS1,051304,2106.040,-15801.331,25,1.0,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.4
$GPS2,051829,2106.053,-15801.290,19,0.9,19,9.8
$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,332.6,4431,-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,-77.62,0.000,6,0.000,0.000,39,1963,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.5,13,118,9.23,2.25,0.00,0.000,4,0.225,0.048,2395,545,3397,0,0,0,0,0,0
$GC,282,-0.74,-146.0,38.1,-14.2,45,287,0.00,2.17,0.00,0.000,6,0.000,0.040,2388,1961,3399,0,0,0,0,0,0
$GC,621,-0.74,-146.0,83.3,-12.3,105,625,0.00,2.20,0.00,0.000,4,0.000,0.053,2377,3367,3401,0,0,0,0,0,0
$GC,679,-0.74,-146.0,90.3,-12.2,109,686,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,1962,3401,0,0,0,0,0,0
$GC,1006,-0.74,-146.0,131.2,-11.8,140,1010,0.00,2.25,0.00,0.000,4,0.000,0.052,2367,3374,3402,0,0,0,0,0,0
$GC,1059,-0.74,-146.0,137.4,-11.2,144,1064,0.12,2.20,0.00,0.000,6,0.153,0.044,2400,1949,3402,0,0,0,0,0,0
$GC,1386,-0.74,-146.0,168.3,-8.4,174,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1949,3403,0,0,0,0,0,0
$GC,1704,-0.74,-146.0,195.9,-7.6,204,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1949,3404,0,0,0,0,0,0
$GC,2015,-0.74,-146.0,220.4,-8.4,222,2020,0.00,2.22,0.00,0.000,4,0.000,0.049,2393,3367,3404,0,0,0,0,0,0
$GC,2049,-0.74,-146.0,223.8,-9.3,223,2054,0.00,2.17,0.00,0.000,6,0.000,0.041,2392,1956,3404,0,0,0,0,0,0
$GC,2368,-0.74,-146.0,250.2,-7.8,239,2372,0.00,2.22,0.00,0.000,4,0.000,0.058,2393,547,3404,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,265.4,-10.5,246,2525,0.00,2.15,0.00,0.000,6,0.000,0.040,2383,1969,3404,0,0,0,0,0,0
$GC,2848,-0.74,-146.0,294.6,-8.3,262,2853,0.00,2.15,0.00,0.000,4,0.000,0.056,2372,3376,3403,0,0,0,0,0,0
$GC,2949,-0.74,-146.0,302.1,-7.3,266,2953,0.00,2.20,0.00,0.000,6,0.000,0.042,2372,1954,3403,0,0,0,0,0,0
$GC,3264,-0.74,-146.0,326.3,-8.3,274,3269,0.10,2.25,0.00,0.000,4,0.165,0.062,2399,549,3402,0,0,0,0,0,0
$GC,3342,-0.74,-146.0,332.8,-8.0,275,3348,0.00,2.15,0.00,0.000,6,0.000,0.043,2391,1959,3401,0,0,0,0,0,0
$GC,3674,-0.74,-146.0,354.9,-6.4,284,3680,0.00,2.25,0.00,0.000,4,0.000,0.061,2391,549,3400,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,358.0,-8.1,284,3720,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1960,3399,0,0,0,0,0,0
$GC,4046,-0.74,-146.0,384.9,-8.5,293,4050,0.00,2.17,0.00,0.000,4,0.000,0.058,2371,3366,3398,0,0,0,0,0,0
$GC,4141,-0.74,-146.0,393.5,-9.0,295,4145,0.12,2.15,0.00,0.000,6,0.144,0.044,2406,1961,3397,0,0,0,0,0,0
$GC,4461,-0.74,-146.0,418.3,-7.8,303,4465,0.00,2.20,0.00,0.000,4,0.000,0.061,2406,546,3396,0,0,0,0,0,0
$GC,4593,-0.74,-146.0,429.4,-9.2,306,4598,0.00,2.17,0.00,0.000,6,0.000,0.045,2398,1960,3394,0,0,0,0,0,0
$STATE,4839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4840,begin apogee
$GC,4846,-0.17,0.0,450.4,8.3,312,4968,0.55,0.00,118.78,0.792,6,0.116,0.000,2580,1961,2800,0,0,0,0,0,0
$STATE,4968,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4971,0.74,146.0,453.3,0.0,315,5108,0.85,2.42,125.38,0.760,4,0.075,0.055,2877,3383,2203,0,0,0,0,0,0
$GC,5131,0.74,146.0,438.0,13.6,318,5136,0.00,2.33,0.00,0.000,6,0.000,0.050,2885,1984,2200,0,0,0,0,0,0
$GC,5462,0.74,146.0,392.0,13.7,327,5466,0.00,2.28,0.00,0.000,4,0.000,0.063,2896,560,2196,0,0,0,0,0,0
$GC,5534,0.74,146.0,382.0,13.4,328,5538,0.00,2.25,0.00,0.000,6,0.000,0.045,2896,1979,2195,0,0,0,0,0,0
$GC,5865,0.74,146.0,334.4,14.8,336,5869,0.00,2.20,0.00,0.000,4,0.000,0.056,2896,3390,2193,0,0,0,0,0,0
$GC,5898,0.74,146.0,329.4,14.7,336,5904,0.00,2.25,0.00,0.000,6,0.000,0.051,2905,1973,2193,0,0,0,0,0,0
$GC,6210,0.74,146.0,287.1,12.6,346,6214,0.00,2.25,0.00,0.000,4,0.000,0.062,2916,560,2191,0,0,0,0,0,0
$GC,6328,0.74,146.0,270.5,13.6,351,6333,0.15,2.20,0.00,0.000,6,0.151,0.041,2874,1982,2190,0,0,0,0,0,0
$GC,6643,0.74,146.0,232.6,12.1,366,6647,0.00,2.30,0.00,0.000,4,0.000,0.067,2882,561,2189,0,0,0,0,0,0
$GC,6705,0.74,146.0,225.3,11.4,369,6709,0.00,2.17,0.00,0.000,6,0.000,0.044,2883,1971,2189,0,0,0,0,0,0
$GC,7031,0.74,146.0,189.3,9.9,389,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1971,2189,0,0,0,0,0,0
$GC,7351,0.74,146.0,155.8,10.9,419,7355,0.00,2.22,0.00,0.000,4,0.000,0.057,2883,3391,2188,0,0,0,0,0,0
$GC,7403,0.74,146.0,149.4,12.4,423,7407,0.00,2.22,0.00,0.000,6,0.000,0.046,2892,1968,2188,0,0,0,0,0,0
$GC,7730,0.74,146.0,112.6,10.9,453,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1969,2187,0,0,0,0,0,0
$GC,8050,0.74,146.0,77.6,10.4,485,8056,0.00,2.20,0.00,0.000,4,0.000,0.060,2902,562,2188,0,0,0,0,0,0
$GC,8119,0.75,157.7,71.3,8.6,497,8132,0.00,2.15,8.52,0.477,6,0.000,0.041,2903,1977,2157,0,0,0,0,0,0
$GC,8461,0.75,157.7,35.1,9.5,559,8466,0.00,2.20,0.00,0.000,4,0.000,0.054,2902,3385,2156,0,0,0,0,0,0
$GC,8523,0.75,157.7,28.3,11.2,570,8531,0.08,2.22,0.00,0.000,6,0.128,0.044,2884,1974,2156,0,0,0,0,0,0
$GC,8693,0.77,175.2,13.2,8.3,601,8715,0.00,2.25,16.40,0.464,4,0.000,0.057,2892,560,2084,0,0,0,0,0,0
$STATE,8817,end climb,SURFACE_DEPTH_REACHED
$STATE,8817,begin surface coast
$FINISH,0.4,1.009545
$STATE,8854,end surface coast,CONTROL_FINISHED_OK
$STATE,8855,begin surface
$SM_CCo,8874,56.10,0.458,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,56.10,0.000,0.000,0.458,35,1968,1575,-8.14,0.20,300.24
$IRIDIUM_FIX,2054.83,-15804.20,260702,020216
$TT8_MAMPS,0.028379
$HUMID,61.61
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,24.6,5.190
$10V_AH,10.5,5.663
$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,18.475,84.275,269.075,56.100,0.000,30.665,31.986,137.454,19.000,0.000,19.496,1154.758,5234.489,388.420,2049.765,428.011,0.000,1096.107,0.000,2000.529,0.000,119.168,0.000
$DEVICE_MAMPS,225.498,66.729,791.544,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.275,362.024,1258.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34933,630
$CAP_FILE_SIZE,97451,0
$CFSIZE,260165632,252346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,074851,2107.140,-15801.670,24,1.7,37,9.8