version: 66.06
glider: 523
mission: 4
dive: 569
start: 6 26 113 10 28 46
data:
$ID,523
$MISSION,4
$DIVE,569
$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,-47358.734
$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,22
$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
$GPS1,101834,2057.956,-15749.370,38,0.8,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,102829,2057.990,-15749.375,17,0.8,17,9.8
$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,301.4,29111,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-79.60,0.000,6,0.000,0.000,43,1970,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.8,-6.5,13,119,9.55,2.20,0.00,0.000,4,0.222,0.045,2384,3368,3396,0,0,0,0,0,0
$GC,249,-0.74,-146.0,31.4,-14.7,39,255,0.00,2.25,0.00,0.000,6,0.000,0.048,2384,1947,3398,0,0,0,0,0,0
$GC,581,-0.74,-146.0,79.2,-11.4,100,588,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,550,3399,0,0,0,0,0,0
$GC,837,-0.74,-146.0,109.5,-12.2,124,842,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1969,3399,0,0,0,0,0,0
$GC,1171,-0.74,-146.0,150.1,-10.6,155,1175,0.00,2.25,0.00,0.000,4,0.000,0.053,2374,545,3400,0,0,0,0,0,0
$GC,1421,-0.74,-146.0,176.3,-9.5,177,1428,0.10,2.17,0.00,0.000,6,0.141,0.034,2396,1959,3400,0,0,0,0,0,0
$GC,1745,-0.74,-146.0,204.1,-8.6,206,1749,0.00,2.28,0.00,0.000,4,0.000,0.052,2397,541,3401,0,0,0,0,0,0
$GC,2004,-0.74,-146.0,226.8,-8.1,217,2009,0.00,2.15,0.00,0.000,6,0.000,0.033,2389,1961,3401,0,0,0,0,0,0
$GC,2322,-0.74,-146.0,249.4,-7.1,233,2326,0.00,2.28,0.00,0.000,4,0.000,0.052,2389,544,3401,0,0,0,0,0,0
$GC,2579,-0.74,-146.0,271.3,-8.1,244,2583,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1955,3401,0,0,0,0,0,0
$GC,2898,-0.74,-146.0,293.3,-7.6,259,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3401,0,0,0,0,0,0
$GC,3201,-0.74,-146.0,313.7,-5.7,269,3206,0.00,2.30,0.00,0.000,4,0.000,0.054,2379,538,3400,0,0,0,0,0,0
$GC,3370,-0.74,-146.0,323.4,-6.9,272,3376,0.12,2.17,0.00,0.000,6,0.166,0.035,2402,1962,3399,0,0,0,0,0,0
$GC,3704,-0.74,-146.0,350.2,-8.9,281,3708,0.00,2.30,0.00,0.000,4,0.000,0.056,2402,545,3398,0,0,0,0,0,0
$GC,3805,-0.74,-146.0,359.7,-8.7,283,3810,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1958,3397,0,0,0,0,0,0
$GC,4124,-0.74,-146.0,380.8,-5.9,291,4128,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,3368,3395,0,0,0,0,0,0
$GC,4198,-0.74,-146.0,385.4,-6.0,292,4202,0.00,2.28,0.00,0.000,6,0.000,0.046,2385,1947,3395,0,0,0,0,0,0
$GC,4530,-0.74,-146.0,407.7,-7.0,300,4534,0.00,2.25,0.00,0.000,4,0.000,0.062,2384,546,3393,0,0,0,0,0,0
$GC,4787,-0.74,-146.0,428.2,-8.0,305,4793,0.00,2.17,0.00,0.000,6,0.000,0.037,2375,1955,3391,0,0,0,0,0,0
$GC,5121,-0.74,-146.0,449.5,-6.2,314,5125,0.00,2.30,0.00,0.000,4,0.000,0.059,2375,547,3389,0,0,0,0,0,0
$STATE,5132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5132,begin apogee
$GC,5142,-0.17,0.0,450.2,5.9,314,5267,0.68,0.00,122.03,0.753,6,0.121,0.000,2583,1982,2800,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,0.74,146.0,451.5,0.0,317,5409,0.85,2.38,127.03,0.728,4,0.081,0.055,2874,3388,2202,0,0,0,0,0,0
$GC,5523,0.74,146.0,423.2,12.2,322,5529,0.00,2.30,0.00,0.000,6,0.000,0.044,2883,1977,2198,0,0,0,0,0,0
$GC,5855,0.74,146.0,384.4,11.8,331,5859,0.00,2.28,0.00,0.000,4,0.000,0.064,2893,570,2195,0,0,0,0,0,0
$GC,5911,0.74,146.0,377.8,11.9,332,5915,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1982,2195,0,0,0,0,0,0
$GC,6224,0.74,146.0,339.9,11.8,340,6228,0.00,2.25,0.00,0.000,4,0.000,0.058,2893,3390,2194,0,0,0,0,0,0
$GC,6325,0.74,146.0,326.5,13.2,342,6329,0.00,2.25,0.00,0.000,6,0.000,0.041,2901,1965,2193,0,0,0,0,0,0
$GC,6653,0.74,146.0,285.5,11.9,353,6657,0.00,2.30,0.00,0.000,4,0.000,0.058,2901,3390,2192,0,0,0,0,0,0
$GC,6687,0.74,146.0,281.3,13.0,354,6693,0.12,2.22,0.00,0.000,6,0.152,0.042,2877,1983,2192,0,0,0,0,0,0
$GC,7003,0.74,146.0,250.8,10.1,370,7007,0.00,2.28,0.00,0.000,4,0.000,0.062,2886,563,2192,0,0,0,0,0,0
$GC,7053,0.74,146.0,245.0,12.2,372,7057,0.00,2.22,0.00,0.000,6,0.000,0.041,2886,1983,2191,0,0,0,0,0,0
$GC,7369,0.77,172.0,214.6,8.0,387,7395,0.00,2.22,21.38,0.604,4,0.000,0.050,2886,3395,2098,0,0,0,0,0,0
$GC,7487,0.77,172.0,203.7,9.5,392,7491,0.00,2.22,0.00,0.000,6,0.000,0.041,2896,1975,2096,0,0,0,0,0,0
$GC,7813,0.77,172.0,175.5,9.5,420,7817,0.00,2.25,0.00,0.000,4,0.000,0.060,2906,573,2095,0,0,0,0,0,0
$GC,7864,0.77,172.0,170.0,10.6,424,7868,0.00,2.22,0.00,0.000,6,0.000,0.042,2906,1993,2094,0,0,0,0,0,0
$GC,8192,0.77,172.0,133.9,10.9,454,8196,0.00,2.22,0.00,0.000,4,0.000,0.054,2906,3385,2093,0,0,0,0,0,0
$GC,8320,0.77,172.0,117.7,12.7,465,8324,0.00,2.25,0.00,0.000,6,0.000,0.049,2915,1981,2093,0,0,0,0,0,0
$GC,8647,0.77,172.0,88.1,10.3,495,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1981,2093,0,0,0,0,0,0
$GC,8969,0.82,214.4,58.1,7.3,547,9016,0.00,2.33,36.83,0.486,4,0.000,0.057,2915,3382,1923,0,0,0,0,0,0
$GC,9065,0.86,247.9,50.7,7.6,563,9100,0.00,2.22,29.95,0.472,6,0.000,0.046,2923,1981,1787,0,0,0,0,0,0
$GC,9423,0.86,247.9,19.8,9.7,629,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1980,1786,0,0,0,0,0,0
$GC,9590,0.95,322.5,6.5,5.9,660,9643,0.00,0.00,50.42,0.439,2,0.000,0.000,2922,1980,1548,0,0,0,0,0,0
$STATE,9644,end climb,SURFACE_DEPTH_REACHED
$STATE,9644,begin surface coast
$FINISH,0.5,1.009555
$STATE,9688,end surface coast,CONTROL_FINISHED_OK
$STATE,9688,begin surface
$SM_CCo,9766,0.00,0.000,0,0,1543,308.34
$SM_GC,1.37,7.45,0.00,0.00,0.027,0.000,0.000,43,1976,1543,-8.00,0.59,308.34
$IRIDIUM_FIX,2052.52,-15710.20,200902,101036
$TT8_MAMPS,0.028379
$HUMID,65.23
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,48.540
$10V_AH,10.2,52.975
$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,18.875,85.175,387.625,0.000,0.000,54.279,89.162,241.971,19.500,0.000,18.453,1248.311,5679.245,392.596,2369.964,664.403,0.000,1262.651,0.000,2312.214,0.000,124.581,0.000
$DEVICE_MAMPS,222.430,63.661,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,458.059,389.949,1323.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38072,676
$CAP_FILE_SIZE,110593,0
$CFSIZE,260165632,227495936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,131223,2058.339,-15750.505,15,1.2,15,9.8