version: 66.06
glider: 523
mission: 4
dive: 522
start: 6 20 113 17 39 28
data:
$ID,523
$MISSION,4
$DIVE,522
$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,-46403.844
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,172933,2100.041,-15753.638,28,1.1,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,173912,2100.113,-15753.675,18,1.0,18,9.8
$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,306.6,21021,-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,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-81.50,0.000,6,0.000,0.000,35,1971,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.1,-4.2,13,118,9.57,2.20,0.00,0.000,4,0.223,0.048,2378,3370,3398,0,0,0,0,0,0
$GC,209,-0.74,-146.0,25.4,-15.3,32,216,0.00,2.28,0.00,0.000,6,0.000,0.045,2378,1955,3399,0,0,0,0,0,0
$GC,382,-0.74,-146.0,51.8,-10.6,63,388,0.00,2.25,0.00,0.000,4,0.000,0.058,2378,539,3399,0,0,0,0,0,0
$GC,637,-0.74,-146.0,85.0,-14.7,106,642,0.12,2.20,0.00,0.000,6,0.174,0.035,2399,1972,3399,0,0,0,0,0,0
$GC,965,-0.74,-146.0,119.3,-8.8,136,969,0.00,2.28,0.00,0.000,4,0.000,0.053,2399,545,3401,0,0,0,0,0,0
$GC,1209,-0.74,-146.0,143.2,-10.7,158,1217,0.00,2.17,0.00,0.000,6,0.000,0.034,2391,1955,3401,0,0,0,0,0,0
$GC,1537,-0.74,-146.0,177.5,-10.3,189,1541,0.00,2.25,0.00,0.000,4,0.000,0.052,2391,540,3402,0,0,0,0,0,0
$GC,1669,-0.74,-146.0,190.4,-9.7,200,1677,0.00,2.20,0.00,0.000,6,0.000,0.035,2381,1962,3402,0,0,0,0,0,0
$GC,1999,-0.74,-146.0,220.0,-8.2,221,2003,0.00,2.22,0.00,0.000,4,0.000,0.054,2371,3365,3402,0,0,0,0,0,0
$GC,2054,-0.74,-146.0,224.8,-8.2,223,2064,0.12,2.20,0.00,0.000,6,0.151,0.042,2404,1953,3402,0,0,0,0,0,0
$GC,2374,-0.74,-146.0,245.8,-7.0,239,2378,0.00,2.22,0.00,0.000,4,0.000,0.055,2404,539,3402,0,0,0,0,0,0
$GC,2576,-0.74,-146.0,261.9,-6.8,248,2580,0.00,2.17,0.00,0.000,6,0.000,0.036,2396,1958,3402,0,0,0,0,0,0
$GC,2900,-0.74,-146.0,286.9,-7.8,264,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1958,3402,0,0,0,0,0,0
$GC,3225,-0.74,-146.0,308.6,-6.4,277,3229,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,545,3400,0,0,0,0,0,0
$GC,3321,-0.74,-146.0,315.5,-6.8,279,3325,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1963,3400,0,0,0,0,0,0
$GC,3635,-0.74,-146.0,338.3,-7.7,287,3639,0.00,2.30,0.00,0.000,4,0.000,0.056,2386,542,3398,0,0,0,0,0,0
$GC,3755,-0.74,-146.0,348.4,-8.7,289,3758,0.00,2.17,0.00,0.000,6,0.000,0.039,2377,1961,3398,0,0,0,0,0,0
$GC,4092,-0.74,-146.0,372.9,-7.1,298,4096,0.00,2.30,0.00,0.000,4,0.000,0.057,2377,549,3396,0,0,0,0,0,0
$GC,4204,-0.74,-146.0,382.1,-9.2,300,4209,0.12,2.20,0.00,0.000,6,0.160,0.041,2400,1966,3395,0,0,0,0,0,0
$GC,4549,-0.74,-146.0,405.9,-6.7,309,4553,0.00,2.22,0.00,0.000,4,0.000,0.062,2392,3363,3393,0,0,0,0,0,0
$GC,4583,-0.74,-146.0,408.5,-7.4,309,4588,0.00,2.25,0.00,0.000,6,0.000,0.047,2392,1959,3393,0,0,0,0,0,0
$GC,4916,-0.74,-146.0,432.1,-7.5,318,4921,0.00,2.33,0.00,0.000,4,0.000,0.063,2392,537,3391,0,0,0,0,0,0
$GC,5096,-0.74,-146.0,447.1,-7.8,322,5100,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1959,3390,0,0,0,0,0,0
$STATE,5168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5175,-0.17,0.0,452.2,6.9,324,5300,0.62,0.00,121.57,0.755,6,0.119,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5301,begin climb
$GC,5304,0.74,146.0,453.3,0.0,327,5442,0.88,2.45,126.85,0.730,4,0.074,0.061,2879,3380,2203,0,0,0,0,0,0
$GC,5505,0.74,146.0,427.9,16.6,332,5509,0.00,2.30,0.00,0.000,6,0.000,0.047,2888,1974,2199,0,0,0,0,0,0
$GC,5824,0.74,146.0,386.5,11.9,340,5828,0.00,2.33,0.00,0.000,4,0.000,0.058,2888,3387,2196,0,0,0,0,0,0
$GC,5874,0.74,146.0,380.3,12.1,341,5878,0.00,2.28,0.00,0.000,6,0.000,0.048,2898,1980,2195,0,0,0,0,0,0
$GC,6188,0.74,146.0,342.7,12.7,349,6192,0.00,2.33,0.00,0.000,4,0.000,0.067,2908,563,2193,0,0,0,0,0,0
$GC,6221,0.74,146.0,338.8,11.7,349,6227,0.12,2.25,0.00,0.000,6,0.154,0.041,2876,1993,2193,0,0,0,0,0,0
$GC,6552,0.74,146.0,304.3,11.7,358,6556,0.00,2.17,0.00,0.000,4,0.000,0.052,2876,3387,2192,0,0,0,0,0,0
$GC,6637,0.74,146.0,293.6,12.6,361,6641,0.00,2.22,0.00,0.000,6,0.000,0.043,2884,1975,2191,0,0,0,0,0,0
$GC,6969,0.74,146.0,254.5,11.7,377,6973,0.00,2.25,0.00,0.000,4,0.000,0.052,2884,3393,2191,0,0,0,0,0,0
$GC,7041,0.74,146.0,245.0,13.7,380,7045,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1979,2190,0,0,0,0,0,0
$GC,7362,0.74,146.0,208.6,10.9,396,7366,0.00,2.22,0.00,0.000,4,0.000,0.051,2893,3396,2190,0,0,0,0,0,0
$GC,7492,0.74,146.0,193.3,12.9,404,7496,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1979,2189,0,0,0,0,0,0
$GC,7819,0.74,146.0,156.6,10.0,434,7823,0.00,2.22,0.00,0.000,4,0.000,0.058,2912,569,2188,0,0,0,0,0,0
$GC,7870,0.74,146.0,151.3,10.9,438,7875,0.12,2.20,0.00,0.000,6,0.137,0.037,2877,1991,2187,0,0,0,0,0,0
$GC,8197,0.81,202.8,125.2,6.7,468,8249,0.00,2.20,46.17,0.558,4,0.000,0.050,2877,3390,1973,0,0,0,0,0,0
$GC,8408,0.81,202.8,107.7,9.5,486,8415,0.00,2.25,0.00,0.000,6,0.000,0.040,2885,1981,1969,0,0,0,0,0,0
$GC,8732,0.81,205.0,77.0,8.9,520,8740,0.00,2.28,0.00,0.000,4,0.000,0.057,2895,573,1969,0,0,0,0,0,0
$GC,8769,0.82,211.1,73.8,8.8,526,8787,0.00,2.20,8.35,0.443,6,0.000,0.037,2894,1972,1938,0,0,0,0,0,0
$GC,9120,0.86,246.6,42.9,7.6,589,9157,0.00,2.30,31.52,0.469,4,0.000,0.053,2894,3393,1793,0,0,0,0,0,0
$GC,9204,0.89,271.5,36.4,8.0,603,9232,0.00,2.28,22.58,0.453,6,0.000,0.047,2902,1974,1692,0,0,0,0,0,0
$GC,9555,0.92,294.3,9.4,8.1,668,9583,0.10,2.28,20.38,0.427,4,0.086,0.057,2996,561,1599,0,0,0,0,0,0
$GC,9598,0.92,294.3,4.8,11.2,674,9605,0.17,2.25,0.00,0.000,6,0.107,0.041,2937,1967,1599,0,0,0,0,0,0
$STATE,9611,end climb,SURFACE_DEPTH_REACHED
$STATE,9611,begin surface coast
$FINISH,0.6,1.009925
$STATE,9634,end surface coast,CONTROL_FINISHED_OK
$STATE,9634,begin surface
$SM_CCo,9652,4.82,0.329,0,0,1575,300.24
$SM_GC,1.79,0.00,0.00,4.82,0.000,0.000,0.329,42,1967,1575,-8.12,0.28,300.24
$IRIDIUM_FIX,2047.91,-15750.49,140902,171729
$TT8_MAMPS,0.028379
$HUMID,65.71
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,44.292
$10V_AH,10.3,48.187
$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,19.450,98.850,377.425,4.825,0.000,61.443,68.212,244.185,19.000,0.000,18.968,1241.475,5617.147,414.104,2294.575,665.358,0.000,1258.039,0.000,2249.271,0.000,119.847,0.000
$DEVICE_MAMPS,223.197,67.496,754.728,329.043,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,460.603,394.669,1333.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,37981,680
$CAP_FILE_SIZE,113719,0
$CFSIZE,260165632,229957632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,202118,2100.889,-15754.507,13,1.2,13,9.8