version: 66.06
glider: 523
mission: 4
dive: 566
start: 6 26 113 1 50 26
data:
$ID,523
$MISSION,4
$DIVE,566
$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,-47305.164
$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,24
$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
$GPS1,013504,2059.563,-15746.130,25,1.7,25,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.1
$GPS2,015006,2059.577,-15746.194,15,1.3,15,9.8
$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,234.3,7045,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.32,0.000,6,0.000,0.000,26,1983,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,4.0,-6.8,12,112,9.65,2.22,0.00,0.000,4,0.222,0.044,2383,3374,3397,0,0,0,0,0,0
$GC,352,-0.74,-146.0,49.3,-15.6,59,358,0.00,2.28,0.00,0.000,6,0.000,0.043,2383,1957,3399,0,0,0,0,0,0
$GC,688,-0.74,-146.0,88.3,-10.7,114,692,0.00,2.28,0.00,0.000,4,0.000,0.056,2383,548,3400,0,0,0,0,0,0
$GC,939,-0.74,-146.0,115.2,-10.6,136,947,0.00,2.20,0.00,0.000,6,0.000,0.035,2374,1970,3400,0,0,0,0,0,0
$GC,1267,-0.74,-146.0,144.2,-9.3,167,1271,0.00,2.33,0.00,0.000,4,0.000,0.053,2374,537,3400,0,0,0,0,0,0
$GC,1439,-0.74,-146.0,160.5,-9.1,182,1444,0.15,2.17,0.00,0.000,6,0.158,0.034,2404,1963,3400,0,0,0,0,0,0
$GC,1766,-0.74,-146.0,184.6,-8.4,212,1771,0.00,2.28,0.00,0.000,4,0.000,0.053,2405,539,3400,0,0,0,0,0,0
$GC,1957,-0.74,-146.0,199.8,-8.2,229,1961,0.00,2.17,0.00,0.000,6,0.000,0.034,2397,1964,3400,0,0,0,0,0,0
$GC,2277,-0.74,-146.0,229.8,-9.8,245,2282,0.00,2.28,0.00,0.000,4,0.000,0.054,2396,542,3400,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,239.9,-10.5,249,2382,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1957,3400,0,0,0,0,0,0
$GC,2699,-0.74,-146.0,270.1,-9.2,265,2703,0.00,2.30,0.00,0.000,4,0.000,0.054,2387,538,3400,0,0,0,0,0,0
$GC,2801,-0.74,-146.0,278.7,-8.1,269,2805,0.00,2.17,0.00,0.000,6,0.000,0.036,2378,1958,3400,0,0,0,0,0,0
$GC,3119,-0.74,-146.0,299.7,-7.0,284,3126,0.00,2.28,0.00,0.000,4,0.000,0.055,2378,535,3400,0,0,0,0,0,0
$GC,3346,-0.74,-146.0,315.7,-7.4,290,3351,0.12,2.20,0.00,0.000,6,0.163,0.036,2400,1966,3399,0,0,0,0,0,0
$GC,3674,-0.74,-146.0,340.5,-7.7,298,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1966,3398,0,0,0,0,0,0
$GC,3996,-0.74,-146.0,362.7,-6.7,306,4000,0.00,2.30,0.00,0.000,4,0.000,0.056,2401,546,3396,0,0,0,0,0,0
$GC,4087,-0.74,-146.0,369.0,-6.5,308,4091,0.00,2.17,0.00,0.000,6,0.000,0.037,2393,1954,3395,0,0,0,0,0,0
$GC,4406,-0.74,-146.0,388.8,-6.0,316,4410,0.00,2.25,0.00,0.000,4,0.000,0.058,2382,3370,3394,0,0,0,0,0,0
$GC,4603,-0.74,-146.0,401.4,-6.7,320,4607,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1955,3392,0,0,0,0,0,0
$GC,4945,-0.74,-146.0,422.9,-6.2,329,4949,0.00,2.30,0.00,0.000,4,0.000,0.055,2373,3368,3391,0,0,0,0,0,0
$GC,4974,-0.74,-146.0,424.7,-6.6,329,4978,0.00,2.25,0.00,0.000,6,0.000,0.044,2373,1953,3391,0,0,0,0,0,0
$GC,5310,-0.74,-146.0,447.6,-6.7,338,5312,0.10,0.00,0.00,0.000,6,0.173,0.000,2398,1953,3389,0,0,0,0,0,0
$STATE,5388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5389,begin apogee
$GC,5395,-0.17,0.0,451.9,5.7,340,5520,0.55,0.00,121.95,0.748,6,0.106,0.000,2581,1953,2800,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,0.74,146.0,452.0,0.0,343,5662,0.82,2.40,127.00,0.726,4,0.069,0.052,2873,3388,2203,0,0,0,0,0,0
$GC,5752,0.74,146.0,426.6,12.9,348,5756,0.00,2.28,0.00,0.000,6,0.000,0.042,2882,1980,2198,0,0,0,0,0,0
$GC,6100,0.74,146.0,379.5,13.7,357,6104,0.00,2.25,0.00,0.000,4,0.000,0.054,2882,3386,2195,0,0,0,0,0,0
$GC,6207,0.74,146.0,364.8,13.4,359,6211,0.00,2.25,0.00,0.000,6,0.000,0.046,2892,1980,2194,0,0,0,0,0,0
$GC,6550,0.74,146.0,320.0,13.0,368,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,2193,0,0,0,0,0,0
$GC,6855,0.74,146.0,284.3,13.0,378,6859,0.00,2.28,0.00,0.000,4,0.000,0.056,2892,3392,2191,0,0,0,0,0,0
$GC,6895,0.74,146.0,278.2,15.3,380,6899,0.00,2.25,0.00,0.000,6,0.000,0.047,2901,1979,2191,0,0,0,0,0,0
$GC,7222,0.74,146.0,241.9,9.9,396,7226,0.00,2.28,0.00,0.000,4,0.000,0.063,2911,570,2190,0,0,0,0,0,0
$GC,7288,0.74,146.0,234.5,11.7,399,7293,0.12,2.20,0.00,0.000,6,0.136,0.039,2876,1981,2190,0,0,0,0,0,0
$GC,7610,0.77,175.5,207.2,7.8,415,7639,0.00,2.22,24.33,0.599,4,0.000,0.058,2876,3386,2084,0,0,0,0,0,0
$GC,7754,0.77,175.5,194.9,11.0,423,7758,0.00,2.25,0.00,0.000,6,0.000,0.046,2882,1976,2081,0,0,0,0,0,0
$GC,8081,0.77,175.5,163.8,10.3,453,8085,0.00,2.25,0.00,0.000,4,0.000,0.062,2893,569,2080,0,0,0,0,0,0
$GC,8164,0.77,175.5,154.6,11.0,460,8168,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1983,2079,0,0,0,0,0,0
$GC,8491,0.79,190.5,121.1,8.4,490,8516,0.00,2.30,13.77,0.510,4,0.000,0.059,2893,3393,2021,0,0,0,0,0,0
$GC,8551,0.79,190.5,115.5,11.2,495,8555,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1980,2021,0,0,0,0,0,0
$GC,8880,0.86,249.7,86.0,6.6,525,8938,0.00,2.33,51.05,0.508,4,0.000,0.055,2893,3387,1782,0,0,0,0,0,0
$GC,8982,0.88,260.8,78.3,8.6,535,9000,0.00,2.22,11.80,0.458,6,0.000,0.041,2893,1979,1735,0,0,0,0,0,0
$GC,9327,0.91,290.8,51.1,7.8,598,9363,0.12,2.30,26.88,0.467,4,0.073,0.058,2997,577,1613,0,0,0,0,0,0
$GC,9394,0.91,290.8,43.4,12.6,609,9401,0.22,2.20,0.00,0.000,6,0.119,0.035,2930,1993,1613,0,0,0,0,0,0
$GC,9721,0.91,290.8,16.6,9.7,670,9728,0.00,2.25,0.00,0.000,4,0.000,0.058,2930,3373,1612,0,0,0,0,0,0
$GC,9793,0.91,290.8,8.2,11.6,683,9801,0.00,2.25,0.00,0.000,6,0.000,0.045,2936,1977,1612,0,0,0,0,0,0
$STATE,9853,end climb,SURFACE_DEPTH_REACHED
$STATE,9853,begin surface coast
$FINISH,0.6,1.006627
$STATE,9891,end surface coast,CONTROL_FINISHED_OK
$STATE,9894,begin surface
$SM_CCo,9911,5.07,0.334,0,0,1575,300.24
$SM_GC,1.89,0.00,0.00,5.07,0.000,0.000,0.334,38,1973,1575,-8.13,0.45,300.24
$IRIDIUM_FIX,2054.83,-15756.91,200902,010111
$TT8_MAMPS,0.028379
$HUMID,67.20
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,405.2,47.4
$24V_AH,24.5,48.261
$10V_AH,10.2,52.674
$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,19.300,90.025,376.775,5.075,0.000,90.631,105.098,426.087,17.250,0.000,16.031,1279.320,5835.483,402.926,2369.269,930.282,0.000,1252.021,0.000,2325.976,0.000,109.257,0.000
$DEVICE_MAMPS,222.430,62.894,747.825,334.412,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,476.299,416.131,1397.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,38183,701
$CAP_FILE_SIZE,116752,0
$CFSIZE,260165632,227647488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,043658,2058.461,-15747.332,36,1.0,36,9.8