version: 66.06
glider: 523
mission: 4
dive: 520
start: 6 20 113 11 52 18
data:
$ID,523
$MISSION,4
$DIVE,520
$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,-46367.738
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,114607,2058.654,-15751.232,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.5
$GPS2,115202,2058.676,-15751.278,23,0.9,23,9.8
$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,304.0,25827,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.07,0.000,2,0.000,0.000,49,1977,3376,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.1,12,113,9.57,2.20,-0.38,0.000,4,0.225,0.060,2384,3383,3395,0,0,0,0,0,0
$GC,218,-0.74,-146.0,28.7,-16.5,33,225,0.00,2.28,0.00,0.000,6,0.000,0.042,2384,1958,3397,0,0,0,0,0,0
$GC,390,-0.74,-146.0,56.0,-14.8,64,398,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,553,3398,0,0,0,0,0,0
$GC,426,-0.74,-146.0,61.7,-15.2,70,433,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1961,3397,0,0,0,0,0,0
$GC,764,-0.74,-146.0,103.0,-11.1,114,768,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,545,3399,0,0,0,0,0,0
$GC,1015,-0.74,-146.0,137.9,-14.0,136,1022,0.10,2.17,0.00,0.000,6,0.143,0.035,2396,1959,3399,0,0,0,0,0,0
$GC,1343,-0.74,-146.0,171.8,-12.4,167,1347,0.00,2.28,0.00,0.000,4,0.000,0.052,2396,541,3400,0,0,0,0,0,0
$GC,1593,-0.74,-146.0,196.4,-6.5,189,1601,0.00,2.17,0.00,0.000,6,0.000,0.035,2388,1955,3400,0,0,0,0,0,0
$GC,1914,-0.74,-146.0,219.6,-8.4,208,1919,0.00,2.25,0.00,0.000,4,0.000,0.052,2388,545,3401,0,0,0,0,0,0
$GC,1947,-0.74,-146.0,222.9,-9.2,209,1951,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1966,3401,0,0,0,0,0,0
$GC,2271,-0.74,-146.0,247.4,-7.1,225,2275,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,548,3401,0,0,0,0,0,0
$GC,2529,-0.74,-146.0,269.3,-9.4,236,2535,0.12,2.17,0.00,0.000,6,0.164,0.036,2401,1968,3400,0,0,0,0,0,0
$GC,2847,-0.74,-146.0,294.1,-7.3,252,2851,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,539,3400,0,0,0,0,0,0
$GC,3021,-0.74,-146.0,307.8,-7.7,258,3025,0.00,2.20,0.00,0.000,6,0.000,0.037,2394,1965,3400,0,0,0,0,0,0
$GC,3347,-0.74,-146.0,333.2,-7.9,266,3351,0.00,2.25,0.00,0.000,4,0.000,0.057,2383,3365,3400,0,0,0,0,0,0
$GC,3381,-0.74,-146.0,335.9,-7.5,266,3386,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1954,3400,0,0,0,0,0,0
$GC,3712,-0.74,-146.0,358.2,-6.5,275,3716,0.00,2.28,0.00,0.000,4,0.000,0.059,2383,548,3398,0,0,0,0,0,0
$GC,3784,-0.74,-146.0,363.6,-7.6,276,3788,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1956,3398,0,0,0,0,0,0
$GC,4116,-0.74,-146.0,388.2,-7.7,284,4120,0.00,2.28,0.00,0.000,4,0.000,0.057,2374,550,3396,0,0,0,0,0,0
$GC,4285,-0.74,-146.0,400.6,-6.9,287,4290,0.12,2.20,0.00,0.000,6,0.164,0.040,2397,1966,3394,0,0,0,0,0,0
$GC,4617,-0.74,-146.0,419.0,-5.5,295,4621,0.00,2.30,0.00,0.000,4,0.000,0.058,2398,550,3392,0,0,0,0,0,0
$GC,4852,-0.74,-146.0,432.9,-5.1,300,4856,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1964,3392,0,0,0,0,0,0
$GC,5202,-0.74,-146.0,449.0,-4.8,309,5206,0.00,2.25,0.00,0.000,4,0.000,0.061,2379,3370,3390,0,0,0,0,0,0
$STATE,5216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5216,begin apogee
$GC,5225,-0.17,0.0,450.0,5.1,309,5350,0.62,0.00,121.80,0.757,6,0.123,0.000,2580,1979,2800,0,0,0,0,0,0
$STATE,5351,end apogee,CONTROL_FINISHED_OK
$STATE,5351,begin climb
$GC,5354,0.74,146.0,450.6,0.0,312,5492,0.85,2.42,126.90,0.732,4,0.078,0.062,2883,575,2203,0,0,0,0,0,0
$GC,5509,0.74,146.0,432.9,12.8,315,5513,0.00,2.28,0.00,0.000,6,0.000,0.038,2883,1984,2200,0,0,0,0,0,0
$GC,5840,0.74,146.0,387.2,13.8,323,5844,0.00,2.28,0.00,0.000,4,0.000,0.060,2883,3390,2196,0,0,0,0,0,0
$GC,5902,0.74,146.0,378.9,13.2,324,5906,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1972,2195,0,0,0,0,0,0
$GC,6244,0.74,146.0,336.7,12.8,333,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1972,2193,0,0,0,0,0,0
$GC,6550,0.74,146.0,295.0,13.6,341,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1972,2192,0,0,0,0,0,0
$GC,6859,0.74,146.0,255.4,12.3,356,6863,0.00,2.28,0.00,0.000,4,0.000,0.058,2892,3391,2192,0,0,0,0,0,0
$GC,6959,0.74,146.0,242.5,12.3,360,6965,0.00,2.25,0.00,0.000,6,0.000,0.047,2900,1978,2191,0,0,0,0,0,0
$GC,7275,0.74,146.0,206.4,11.5,376,7279,0.00,2.28,0.00,0.000,4,0.000,0.064,2910,572,2190,0,0,0,0,0,0
$GC,7308,0.74,146.0,202.5,11.1,377,7314,0.12,2.20,0.00,0.000,6,0.137,0.040,2876,1992,2189,0,0,0,0,0,0
$GC,7634,0.74,146.0,174.5,9.8,407,7638,0.00,2.22,0.00,0.000,4,0.000,0.060,2876,3383,2189,0,0,0,0,0,0
$GC,7719,0.74,146.0,166.1,9.6,414,7723,0.00,2.22,0.00,0.000,6,0.000,0.046,2883,1980,2189,0,0,0,0,0,0
$GC,8046,0.77,170.9,139.1,8.0,444,8071,0.00,2.25,19.77,0.550,4,0.000,0.057,2883,3383,2104,0,0,0,0,0,0
$GC,8236,0.77,170.9,121.5,10.6,461,8240,0.00,2.22,0.00,0.000,6,0.000,0.048,2891,1975,2102,0,0,0,0,0,0
$GC,8565,0.80,200.9,92.8,7.8,491,8601,0.00,2.30,26.73,0.513,4,0.000,0.062,2894,569,1979,0,0,0,0,0,0
$GC,8637,0.82,213.1,86.7,8.5,497,8654,0.00,2.20,12.02,0.476,6,0.000,0.036,2893,1981,1931,0,0,0,0,0,0
$GC,8980,0.84,233.8,58.4,8.2,552,9004,0.00,2.22,18.45,0.469,4,0.000,0.058,2894,3387,1847,0,0,0,0,0,0
$GC,9045,0.84,233.8,52.5,9.9,563,9051,0.00,2.25,0.00,0.000,6,0.000,0.044,2900,1969,1846,0,0,0,0,0,0
$GC,9377,0.87,257.5,25.9,8.0,624,9404,0.00,0.00,21.95,0.446,6,0.000,0.000,2900,1969,1749,0,0,0,0,0,0
$GC,9566,0.87,257.5,9.7,9.9,658,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1969,1749,0,0,0,0,0,0
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.6,1.016988
$STATE,9706,end surface coast,CONTROL_FINISHED_OK
$STATE,9706,begin surface
$SM_CCo,9724,20.70,0.416,0,0,1575,300.24
$SM_GC,1.69,0.00,0.00,20.70,0.000,0.000,0.416,36,1963,1575,-8.14,0.14,300.24
$IRIDIUM_FIX,2054.83,-15756.91,140902,090926
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.5,44.110
$10V_AH,10.4,47.986
$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,18.875,89.725,347.625,20.700,0.000,27.300,37.744,146.867,19.000,0.000,24.140,1257.030,5606.086,396.532,2340.043,496.497,0.000,1239.452,0.000,2290.834,0.000,117.255,0.000
$DEVICE_MAMPS,225.498,64.428,757.029,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,464.493,403.334,1366.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38174,684
$CAP_FILE_SIZE,108049,0
$CFSIZE,260165632,230064128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,143558,2059.252,-15752.621,36,1.0,36,9.8