version: 66.06
glider: 523
mission: 4
dive: 572
start: 6 26 113 19 1 10
data:
$ID,523
$MISSION,4
$DIVE,572
$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,-47416.086
$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,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
$GPS1,185454,2059.247,-15753.311,28,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.5
$GPS2,190053,2059.265,-15753.327,15,0.9,15,9.8
$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,308.3,22581,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-77.85,0.000,6,0.000,0.000,41,1963,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.5,-5.0,13,119,9.55,2.22,0.00,0.000,4,0.222,0.046,2375,3364,3396,0,0,0,0,0,0
$GC,241,-0.74,-146.0,30.9,-16.1,38,248,0.00,2.28,0.00,0.000,6,0.000,0.043,2376,1960,3398,0,0,0,0,0,0
$GC,576,-0.74,-146.0,76.8,-9.8,99,582,0.00,2.28,0.00,0.000,4,0.000,0.057,2375,547,3399,0,0,0,0,0,0
$GC,831,-0.74,-146.0,105.6,-12.0,125,835,0.12,2.17,0.00,0.000,6,0.167,0.034,2397,1969,3399,0,0,0,0,0,0
$GC,1158,-0.74,-146.0,130.9,-6.6,155,1162,0.00,2.30,0.00,0.000,4,0.000,0.053,2398,538,3400,0,0,0,0,0,0
$GC,1307,-0.74,-146.0,142.8,-7.7,168,1312,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1960,3401,0,0,0,0,0,0
$GC,1634,-0.74,-146.0,172.1,-9.4,198,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1960,3401,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,195.3,-6.6,228,1958,0.00,2.28,0.00,0.000,4,0.000,0.051,2390,542,3402,0,0,0,0,0,0
$GC,2133,-0.74,-146.0,209.7,-9.2,239,2137,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1962,3402,0,0,0,0,0,0
$GC,2467,-0.74,-146.0,234.0,-7.7,255,2471,0.00,2.28,0.00,0.000,4,0.000,0.052,2380,541,3402,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,259.0,-9.8,266,2734,0.12,2.17,0.00,0.000,6,0.163,0.035,2403,1960,3401,0,0,0,0,0,0
$GC,3045,-0.74,-146.0,274.9,-3.4,282,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1960,3401,0,0,0,0,0,0
$GC,3356,-0.74,-146.0,296.1,-8.0,297,3360,0.00,2.25,0.00,0.000,4,0.000,0.059,2394,3358,3401,0,0,0,0,0,0
$GC,3457,-0.74,-146.0,303.4,-6.5,301,3461,0.00,2.22,0.00,0.000,6,0.000,0.043,2394,1956,3401,0,0,0,0,0,0
$GC,3808,-0.74,-146.0,326.5,-7.2,310,3812,0.00,2.28,0.00,0.000,4,0.000,0.056,2394,540,3399,0,0,0,0,0,0
$GC,4066,-0.74,-146.0,347.0,-7.7,315,4072,0.00,2.20,0.00,0.000,6,0.000,0.038,2385,1958,3397,0,0,0,0,0,0
$GC,4399,-0.74,-146.0,367.1,-5.6,324,4403,0.00,2.30,0.00,0.000,4,0.000,0.058,2385,545,3396,0,0,0,0,0,0
$GC,4526,-0.74,-146.0,375.0,-6.0,326,4532,0.00,2.17,0.00,0.000,6,0.000,0.040,2376,1961,3395,0,0,0,0,0,0
$GC,4859,-0.74,-146.0,398.6,-7.3,335,4863,0.00,2.33,0.00,0.000,4,0.000,0.058,2376,538,3393,0,0,0,0,0,0
$GC,4926,-0.74,-146.0,403.9,-7.6,336,4931,0.12,2.20,0.00,0.000,6,0.159,0.040,2398,1965,3393,0,0,0,0,0,0
$GC,5266,-0.74,-146.0,420.5,-4.7,345,5270,0.00,2.25,0.00,0.000,4,0.000,0.060,2390,3362,3391,0,0,0,0,0,0
$GC,5356,-0.74,-146.0,425.5,-5.3,347,5360,0.00,2.28,0.00,0.000,6,0.000,0.048,2390,1952,3391,0,0,0,0,0,0
$STATE,5434,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5434,begin apogee
$GC,5441,-0.17,0.0,429.9,5.5,349,5566,0.60,0.00,122.05,0.740,6,0.114,0.000,2584,1951,2800,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,0.74,146.0,430.0,0.0,352,5708,0.85,2.42,126.85,0.716,4,0.081,0.054,2874,3383,2202,0,0,0,0,0,0
$GC,5798,0.74,146.0,402.5,15.1,357,5802,0.00,2.30,0.00,0.000,6,0.000,0.047,2884,1980,2198,0,0,0,0,0,0
$GC,6146,0.74,146.0,356.1,12.6,366,6150,0.00,2.30,0.00,0.000,4,0.000,0.058,2884,3390,2196,0,0,0,0,0,0
$GC,6202,0.74,146.0,348.9,13.4,367,6206,0.00,2.25,0.00,0.000,6,0.000,0.047,2893,1977,2195,0,0,0,0,0,0
$GC,6549,0.74,146.0,303.7,12.5,376,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1977,2193,0,0,0,0,0,0
$GC,6858,0.74,146.0,266.2,12.6,390,6862,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3383,2192,0,0,0,0,0,0
$GC,6907,0.74,146.0,259.6,12.8,392,6912,0.00,2.25,0.00,0.000,6,0.000,0.048,2897,1976,2192,0,0,0,0,0,0
$GC,7223,0.74,146.0,226.8,9.6,407,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1976,2191,0,0,0,0,0,0
$GC,7535,0.74,146.0,193.0,12.7,424,7540,0.00,2.28,0.00,0.000,4,0.000,0.059,2897,3388,2190,0,0,0,0,0,0
$GC,7622,0.74,146.0,180.8,14.0,431,7630,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1984,2190,0,0,0,0,0,0
$GC,7949,0.74,146.0,148.5,9.2,462,7953,0.00,2.25,0.00,0.000,4,0.000,0.059,2906,3385,2190,0,0,0,0,0,0
$GC,8089,0.74,146.0,133.7,10.7,474,8094,0.12,2.25,0.00,0.000,6,0.143,0.048,2878,1965,2189,0,0,0,0,0,0
$GC,8417,0.79,192.0,107.3,7.1,504,8464,0.00,2.30,37.75,0.535,4,0.000,0.064,2887,572,2016,0,0,0,0,0,0
$GC,8479,0.84,230.8,103.0,7.4,509,8518,0.00,2.22,34.50,0.522,6,0.000,0.038,2887,1989,1858,0,0,0,0,0,0
$GC,8842,0.87,255.8,72.2,8.0,551,8870,0.00,2.22,22.42,0.490,4,0.000,0.058,2887,3386,1755,0,0,0,0,0,0
$GC,8987,0.87,255.8,58.2,10.1,577,8992,0.00,2.20,0.00,0.000,6,0.000,0.041,2888,1975,1754,0,0,0,0,0,0
$GC,9317,0.95,319.9,35.6,6.4,638,9376,0.15,0.00,55.20,0.466,6,0.065,0.000,2997,1975,1494,0,0,0,0,0,0
$GC,9538,0.95,319.9,6.0,14.2,678,9546,0.17,2.33,0.00,0.000,4,0.130,0.054,2946,3386,1492,0,0,0,0,0,0
$STATE,9563,end climb,SURFACE_DEPTH_REACHED
$STATE,9563,begin surface coast
$FINISH,0.6,1.020209
$STATE,9584,end surface coast,CONTROL_FINISHED_OK
$STATE,9585,begin surface
$SM_CCo,9666,0.00,0.000,0,0,1488,321.83
$SM_GC,1.41,7.47,0.00,0.00,0.027,0.000,0.000,42,1946,1488,-8.00,-0.31,321.83
$IRIDIUM_FIX,2047.91,-15752.63,200902,161614
$TT8_MAMPS,0.027612
$HUMID,67.52
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.4,48.793
$10V_AH,10.2,53.276
$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,19.300,81.225,398.775,0.000,0.000,27.264,35.046,160.925,17.750,0.000,15.931,1233.466,5569.910,402.176,2318.464,493.944,0.000,1241.812,0.000,2274.620,0.000,109.521,0.000
$DEVICE_MAMPS,222.430,64.428,740.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,465.824,396.240,1348.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38156,686
$CAP_FILE_SIZE,104510,0
$CFSIZE,260165632,227352576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,214329,2100.298,-15754.511,37,0.9,37,9.8