version: 66.06
glider: 523
mission: 4
dive: 571
start: 6 26 113 16 11 45
data:
$ID,523
$MISSION,4
$DIVE,571
$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,-47399.527
$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,31
$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
$GPS1,160504,2058.478,-15751.844,30,0.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,161129,2058.502,-15751.876,22,1.0,22,9.8
$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,306.2,25324,-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,-76.07,0.000,2,0.000,0.000,32,1963,3370,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.8,12,113,9.52,2.20,-0.55,0.000,4,0.220,0.061,2383,3364,3396,0,0,0,0,0,0
$GC,267,-0.74,-146.0,35.7,-17.0,43,272,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1945,3398,0,0,0,0,0,0
$GC,600,-0.74,-146.0,82.5,-12.5,102,604,0.00,2.22,0.00,0.000,4,0.000,0.055,2382,544,3399,0,0,0,0,0,0
$GC,849,-0.74,-146.0,113.7,-12.6,124,856,0.00,2.15,0.00,0.000,6,0.000,0.033,2373,1948,3400,0,0,0,0,0,0
$GC,1177,-0.74,-146.0,151.0,-11.3,155,1181,0.00,2.20,0.00,0.000,4,0.000,0.052,2373,544,3401,0,0,0,0,0,0
$GC,1299,-0.74,-146.0,164.0,-10.2,165,1307,0.10,2.17,0.00,0.000,6,0.140,0.035,2396,1958,3401,0,0,0,0,0,0
$GC,1628,-0.74,-146.0,190.8,-8.9,196,1632,0.00,2.22,0.00,0.000,4,0.000,0.052,2396,544,3401,0,0,0,0,0,0
$GC,1671,-0.74,-146.0,195.2,-9.2,199,1679,0.00,2.17,0.00,0.000,6,0.000,0.035,2388,1954,3401,0,0,0,0,0,0
$GC,1993,-0.74,-146.0,216.2,-7.3,218,1997,0.00,2.25,0.00,0.000,4,0.000,0.052,2388,541,3402,0,0,0,0,0,0
$GC,2118,-0.74,-146.0,228.2,-10.4,223,2124,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1967,3402,0,0,0,0,0,0
$GC,2436,-0.74,-146.0,252.3,-6.8,239,2440,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,534,3402,0,0,0,0,0,0
$GC,2694,-0.74,-146.0,276.4,-10.5,250,2700,0.12,2.17,0.00,0.000,6,0.159,0.035,2402,1956,3402,0,0,0,0,0,0
$GC,3012,-0.74,-146.0,297.0,-5.5,266,3016,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,544,3401,0,0,0,0,0,0
$GC,3085,-0.74,-146.0,302.1,-6.9,269,3089,0.00,2.17,0.00,0.000,6,0.000,0.036,2394,1958,3401,0,0,0,0,0,0
$GC,3416,-0.74,-146.0,324.4,-6.6,277,3420,0.00,2.28,0.00,0.000,4,0.000,0.054,2394,545,3401,0,0,0,0,0,0
$GC,3675,-0.74,-146.0,346.4,-8.1,282,3679,0.00,2.17,0.00,0.000,6,0.000,0.037,2385,1955,3400,0,0,0,0,0,0
$GC,4007,-0.74,-146.0,369.0,-6.1,290,4011,0.00,2.28,0.00,0.000,4,0.000,0.056,2385,541,3397,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,380.6,-7.6,293,4181,0.00,2.20,0.00,0.000,6,0.000,0.039,2376,1964,3396,0,0,0,0,0,0
$GC,4507,-0.74,-146.0,405.0,-7.2,302,4512,0.00,2.30,0.00,0.000,4,0.000,0.057,2376,538,3395,0,0,0,0,0,0
$GC,4585,-0.74,-146.0,410.8,-7.1,303,4590,0.12,2.22,0.00,0.000,6,0.158,0.040,2398,1963,3394,0,0,0,0,0,0
$GC,4918,-0.74,-146.0,430.8,-5.8,311,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1964,3392,0,0,0,0,0,0
$GC,5242,-0.74,-146.0,448.3,-5.5,319,5246,0.00,2.33,0.00,0.000,4,0.000,0.058,2399,548,3391,0,0,0,0,0,0
$STATE,5267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5267,begin apogee
$GC,5276,-0.17,0.0,450.2,6.8,319,5402,0.57,0.00,122.05,0.753,6,0.115,0.000,2580,1986,2800,0,0,0,0,0,0
$STATE,5402,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5406,0.74,146.0,451.7,0.0,322,5544,0.85,2.35,127.55,0.729,4,0.080,0.061,2871,3385,2202,0,0,0,0,0,0
$GC,5651,0.74,146.0,422.6,13.9,327,5655,0.00,2.30,0.00,0.000,6,0.000,0.046,2880,1982,2198,0,0,0,0,0,0
$GC,5982,0.74,146.0,380.9,12.6,335,5986,0.00,2.30,0.00,0.000,4,0.000,0.058,2880,3393,2195,0,0,0,0,0,0
$GC,6010,0.74,146.0,376.9,13.8,335,6014,0.00,2.30,0.00,0.000,6,0.000,0.051,2890,1979,2195,0,0,0,0,0,0
$GC,6342,0.74,146.0,327.8,15.2,343,6346,0.00,2.30,0.00,0.000,4,0.000,0.061,2901,560,2193,0,0,0,0,0,0
$GC,6369,0.74,146.0,323.7,13.9,343,6373,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1984,2193,0,0,0,0,0,0
$GC,6687,0.74,146.0,284.5,11.9,354,6691,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,3392,2192,0,0,0,0,0,0
$GC,6776,0.74,146.0,272.9,13.2,358,6781,0.12,2.28,0.00,0.000,6,0.151,0.050,2876,1976,2191,0,0,0,0,0,0
$GC,7103,0.75,153.2,239.2,8.7,374,7113,0.00,2.25,5.53,0.505,4,0.000,0.060,2884,567,2173,0,0,0,0,0,0
$GC,7153,0.75,156.4,234.8,8.9,376,7164,0.00,2.22,4.22,0.444,6,0.000,0.042,2885,1982,2162,0,0,0,0,0,0
$GC,7474,0.75,156.4,204.5,10.4,392,7478,0.00,2.20,0.00,0.000,4,0.000,0.053,2885,3396,2159,0,0,0,0,0,0
$GC,7560,0.75,156.4,195.0,10.8,397,7564,0.00,2.25,0.00,0.000,6,0.000,0.043,2894,1972,2160,0,0,0,0,0,0
$GC,7887,0.78,182.6,165.3,7.9,427,7916,0.00,2.25,23.85,0.576,4,0.000,0.049,2894,3394,2054,0,0,0,0,0,0
$GC,8031,0.78,182.6,151.3,10.9,439,8035,0.00,2.25,0.00,0.000,6,0.000,0.042,2900,1976,2052,0,0,0,0,0,0
$GC,8357,0.78,182.6,119.2,9.5,469,8361,0.00,2.28,0.00,0.000,4,0.000,0.058,2911,568,2051,0,0,0,0,0,0
$GC,8377,0.78,182.6,117.4,9.5,470,8381,0.00,2.20,0.00,0.000,6,0.000,0.038,2911,1983,2051,0,0,0,0,0,0
$GC,8704,0.78,182.6,85.2,10.8,500,8708,0.00,2.22,0.00,0.000,4,0.000,0.051,2911,3388,2051,0,0,0,0,0,0
$GC,8860,0.78,182.6,68.1,10.0,523,8865,0.00,2.22,0.00,0.000,6,0.000,0.040,2921,1975,2051,0,0,0,0,0,0
$GC,9193,0.79,185.7,38.6,8.9,584,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1975,2051,0,0,0,0,0,0
$GC,9520,0.82,209.9,11.6,8.0,645,9547,0.00,0.00,24.42,0.440,6,0.000,0.000,2921,1975,1943,0,0,0,0,0,0
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,0.6,1.013709
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9678,43.35,0.426,0,0,1574,300.24
$SM_GC,1.48,0.00,0.00,43.35,0.000,0.000,0.426,41,1965,1574,-8.12,0.23,300.24
$IRIDIUM_FIX,2047.91,-15757.78,200902,131317
$TT8_MAMPS,0.028379
$HUMID,66.10
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,24.4,48.706
$10V_AH,10.3,53.176
$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,18.800,89.625,307.625,43.350,0.000,30.095,46.296,163.407,19.500,0.000,22.715,1243.116,5654.972,396.110,2289.146,518.623,0.000,1203.591,0.000,2240.333,0.000,117.268,0.000
$DEVICE_MAMPS,220.129,60.593,753.194,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,455.623,394.865,1321.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38142,670
$CAP_FILE_SIZE,106162,0
$CFSIZE,260165632,227401728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,185454,2059.247,-15753.311,28,0.9,28,9.8