version: 66.06
glider: 523
mission: 4
dive: 570
start: 6 26 113 13 18 34
data:
$ID,523
$MISSION,4
$DIVE,570
$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,-47376.184
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,131223,2058.339,-15750.505,15,1.2,15,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.5
$GPS2,131817,2058.356,-15750.558,16,1.2,16,9.8
$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,303.1,27141,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.97,0.000,2,0.000,0.000,39,1972,3331,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.6,12,121,9.57,2.25,-1.45,0.000,4,0.222,0.064,2386,3361,3399,0,0,0,0,0,0
$GC,213,-0.74,-146.0,26.4,-16.0,32,221,0.00,2.25,0.00,0.000,6,0.000,0.045,2385,1964,3400,0,0,0,0,0,0
$GC,387,-0.74,-146.0,56.2,-14.2,63,393,0.00,2.30,0.00,0.000,4,0.000,0.060,2386,536,3400,0,0,0,0,0,0
$GC,639,-0.74,-146.0,88.3,-11.0,103,643,0.00,2.20,0.00,0.000,6,0.000,0.035,2376,1968,3400,0,0,0,0,0,0
$GC,966,-0.74,-146.0,119.4,-8.7,133,973,0.00,2.30,0.00,0.000,4,0.000,0.055,2376,539,3402,0,0,0,0,0,0
$GC,1222,-0.74,-146.0,147.2,-12.1,156,1227,0.12,2.17,0.00,0.000,6,0.165,0.035,2398,1964,3403,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,182.5,-10.0,186,1554,0.00,2.28,0.00,0.000,4,0.000,0.054,2398,541,3403,0,0,0,0,0,0
$GC,1803,-0.74,-146.0,205.4,-8.9,206,1808,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1963,3403,0,0,0,0,0,0
$GC,2121,-0.74,-146.0,234.1,-9.4,222,2125,0.00,2.28,0.00,0.000,4,0.000,0.054,2391,543,3403,0,0,0,0,0,0
$GC,2379,-0.74,-146.0,256.4,-8.2,233,2385,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1968,3403,0,0,0,0,0,0
$GC,2698,-0.74,-146.0,279.2,-7.4,249,2702,0.00,2.30,0.00,0.000,4,0.000,0.054,2381,544,3403,0,0,0,0,0,0
$GC,2932,-0.74,-146.0,297.3,-8.2,259,2939,0.12,2.17,0.00,0.000,6,0.160,0.036,2404,1970,3404,0,0,0,0,0,0
$GC,3268,-0.74,-146.0,322.9,-8.3,269,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1970,3403,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,343.3,-5.7,277,3595,0.00,2.30,0.00,0.000,4,0.000,0.055,2405,538,3403,0,0,0,0,0,0
$GC,3692,-0.74,-146.0,349.2,-6.2,279,3696,0.00,2.20,0.00,0.000,6,0.000,0.037,2397,1962,3403,0,0,0,0,0,0
$GC,4042,-0.74,-146.0,372.8,-6.8,288,4046,0.00,2.28,0.00,0.000,4,0.000,0.056,2397,545,3401,0,0,0,0,0,0
$GC,4156,-0.74,-146.0,380.7,-6.9,290,4160,0.00,2.17,0.00,0.000,6,0.000,0.037,2387,1960,3400,0,0,0,0,0,0
$GC,4495,-0.74,-146.0,401.1,-6.0,299,4499,0.00,2.30,0.00,0.000,4,0.000,0.056,2387,542,3398,0,0,0,0,0,0
$GC,4753,-0.74,-146.0,419.2,-6.9,304,4758,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1959,3397,0,0,0,0,0,0
$GC,5086,-0.74,-146.0,442.2,-7.3,313,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1960,3394,0,0,0,0,0,0
$STATE,5204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5204,begin apogee
$GC,5211,-0.17,0.0,450.6,7.0,316,5337,0.65,0.00,122.95,0.752,6,0.117,0.000,2586,1959,2800,0,0,0,0,0,0
$STATE,5337,end apogee,CONTROL_FINISHED_OK
$STATE,5338,begin climb
$GC,5340,0.74,146.0,451.3,0.0,319,5479,0.85,2.40,127.15,0.729,4,0.084,0.060,2873,3388,2203,0,0,0,0,0,0
$GC,5563,0.74,146.0,427.3,13.8,324,5567,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1975,2198,0,0,0,0,0,0
$GC,5876,0.74,146.0,389.6,12.5,332,5880,0.00,2.28,0.00,0.000,4,0.000,0.065,2893,570,2195,0,0,0,0,0,0
$GC,5915,0.74,146.0,384.2,14.0,333,5919,0.00,2.22,0.00,0.000,6,0.000,0.038,2893,1989,2195,0,0,0,0,0,0
$GC,6239,0.74,146.0,342.5,12.0,341,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1989,2194,0,0,0,0,0,0
$GC,6564,0.74,146.0,306.3,11.7,349,6568,0.00,2.25,0.00,0.000,4,0.000,0.062,2893,3383,2192,0,0,0,0,0,0
$GC,6625,0.74,146.0,298.0,12.6,350,6630,0.00,2.28,0.00,0.000,6,0.000,0.048,2901,1972,2191,0,0,0,0,0,0
$GC,6952,0.74,146.0,258.9,11.3,366,6956,0.00,2.30,0.00,0.000,4,0.000,0.059,2901,3385,2191,0,0,0,0,0,0
$GC,6970,0.74,146.0,257.0,11.0,367,6975,0.12,2.25,0.00,0.000,6,0.150,0.051,2875,1979,2190,0,0,0,0,0,0
$GC,7297,0.74,146.0,224.6,9.6,383,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1979,2190,0,0,0,0,0,0
$GC,7608,0.74,146.0,197.8,9.2,399,7612,0.00,2.28,0.00,0.000,4,0.000,0.060,2875,3389,2189,0,0,0,0,0,0
$GC,7671,0.74,146.0,191.5,10.4,404,7675,0.00,2.25,0.00,0.000,6,0.000,0.048,2882,1968,2188,0,0,0,0,0,0
$GC,8000,0.74,146.0,159.9,9.7,434,8004,0.00,2.28,0.00,0.000,4,0.000,0.059,2882,3381,2188,0,0,0,0,0,0
$GC,8084,0.74,146.0,150.7,11.3,441,8088,0.00,2.25,0.00,0.000,6,0.000,0.049,2891,1981,2189,0,0,0,0,0,0
$GC,8411,0.77,170.1,122.5,8.0,471,8435,0.00,2.25,18.83,0.523,4,0.000,0.058,2891,3379,2106,0,0,0,0,0,0
$GC,8528,0.77,170.1,111.3,10.6,481,8532,0.00,2.22,0.00,0.000,6,0.000,0.048,2897,1977,2105,0,0,0,0,0,0
$GC,8855,0.77,170.1,79.0,10.5,511,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1977,2105,0,0,0,0,0,0
$GC,9186,0.83,222.5,53.5,6.9,572,9239,0.00,2.30,45.55,0.481,4,0.000,0.057,2898,3373,1892,0,0,0,0,0,0
$GC,9299,0.83,222.5,45.1,9.3,591,9304,0.00,2.25,0.00,0.000,6,0.000,0.048,2903,1978,1890,0,0,0,0,0,0
$GC,9630,0.90,278.4,18.6,6.7,652,9683,0.00,0.00,48.92,0.444,6,0.000,0.000,2903,1978,1662,0,0,0,0,0,0
$GC,9846,0.94,309.5,3.0,7.7,690,9854,0.10,0.00,6.05,0.356,2,0.084,0.000,2986,1978,1636,0,0,0,0,0,0
$STATE,9855,end climb,SURFACE_DEPTH_REACHED
$STATE,9855,begin surface coast
$FINISH,0.7,1.016000
$STATE,9893,end surface coast,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$SM_CCo,9911,8.65,0.374,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,8.65,0.000,0.000,0.374,32,1963,1575,-8.15,0.17,300.24
$IRIDIUM_FIX,2052.52,-15747.49,200902,101038
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.4,48.624
$10V_AH,10.2,53.077
$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,19.125,76.650,369.450,8.650,0.000,27.856,33.946,155.699,19.000,0.000,16.820,1270.610,5770.989,392.751,2348.458,487.946,0.000,1231.745,0.000,2297.901,0.000,121.673,0.000
$DEVICE_MAMPS,221.663,65.195,752.427,374.296,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.201,404.945,1373.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38060,698
$CAP_FILE_SIZE,105689,0
$CFSIZE,260165632,227450880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,160504,2058.478,-15751.844,30,0.8,30,9.8