version: 66.06
glider: 523
mission: 4
dive: 574
start: 6 27 113 0 41 44
data:
$ID,523
$MISSION,4
$DIVE,574
$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,-47496.625
$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,25
$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
$GPS1,003456,2101.190,-15755.146,24,0.8,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.6
$GPS2,004128,2101.210,-15755.210,61,0.9,61,9.8
$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,308.3,17728,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.22,0.000,2,0.000,0.000,50,1994,3337,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.0,-3.6,12,120,9.45,2.22,-1.35,0.000,4,0.222,0.064,2381,3362,3398,0,0,0,0,0,0
$GC,250,-0.74,-146.0,32.1,-15.7,40,258,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1966,3400,0,0,0,0,0,0
$GC,591,-0.74,-146.0,87.0,-15.9,98,595,0.00,2.28,0.00,0.000,4,0.000,0.058,2381,535,3401,0,0,0,0,0,0
$GC,805,-0.74,-146.0,114.2,-11.0,117,812,0.00,2.17,0.00,0.000,6,0.000,0.035,2372,1968,3402,0,0,0,0,0,0
$GC,1140,-0.74,-146.0,149.1,-9.7,148,1145,0.10,2.33,0.00,0.000,4,0.170,0.054,2397,535,3403,0,0,0,0,0,0
$GC,1344,-0.74,-146.0,166.1,-8.4,166,1348,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1959,3403,0,0,0,0,0,0
$GC,1671,-0.74,-146.0,197.0,-9.4,196,1675,0.00,2.30,0.00,0.000,4,0.000,0.054,2389,540,3404,0,0,0,0,0,0
$GC,1765,-0.74,-146.0,206.0,-9.1,201,1769,0.00,2.17,0.00,0.000,6,0.000,0.034,2380,1966,3404,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,231.1,-6.5,216,2088,0.00,2.20,0.00,0.000,4,0.000,0.055,2370,3357,3404,0,0,0,0,0,0
$GC,2186,-0.74,-146.0,239.0,-7.5,220,2192,0.12,2.22,0.00,0.000,6,0.148,0.043,2403,1948,3404,0,0,0,0,0,0
$GC,2504,-0.74,-146.0,257.2,-5.8,236,2508,0.00,2.25,0.00,0.000,4,0.000,0.055,2403,542,3404,0,0,0,0,0,0
$GC,2761,-0.74,-146.0,276.1,-7.1,247,2767,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1958,3404,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,294.1,-5.7,263,3081,0.00,2.28,0.00,0.000,4,0.000,0.054,2395,540,3404,0,0,0,0,0,0
$GC,3335,-0.74,-146.0,308.5,-5.8,271,3339,0.00,2.15,0.00,0.000,6,0.000,0.036,2385,1957,3403,0,0,0,0,0,0
$GC,3672,-0.74,-146.0,328.9,-5.6,280,3676,0.00,2.25,0.00,0.000,4,0.000,0.055,2385,550,3402,0,0,0,0,0,0
$GC,3767,-0.74,-146.0,334.5,-6.3,282,3771,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1959,3401,0,0,0,0,0,0
$GC,4084,-0.74,-146.0,358.2,-8.5,290,4088,0.00,2.30,0.00,0.000,4,0.000,0.057,2375,540,3400,0,0,0,0,0,0
$GC,4235,-0.74,-146.0,373.3,-9.8,293,4240,0.12,2.20,0.00,0.000,6,0.157,0.038,2398,1965,3399,0,0,0,0,0,0
$GC,4580,-0.74,-146.0,398.5,-6.9,302,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1964,3397,0,0,0,0,0,0
$GC,4903,-0.74,-146.0,420.6,-6.9,310,4907,0.00,2.30,0.00,0.000,4,0.000,0.058,2399,547,3395,0,0,0,0,0,0
$GC,5066,-0.74,-146.0,432.3,-7.4,313,5070,0.00,2.20,0.00,0.000,6,0.000,0.041,2392,1958,3394,0,0,0,0,0,0
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5366,-0.17,0.0,451.2,6.2,321,5492,0.60,0.00,122.78,0.755,6,0.114,0.000,2584,1958,2800,0,0,0,0,0,0
$STATE,5493,end apogee,CONTROL_FINISHED_OK
$STATE,5493,begin climb
$GC,5496,0.74,146.0,452.5,0.0,324,5634,0.82,2.38,127.05,0.730,4,0.075,0.056,2871,3385,2203,0,0,0,0,0,0
$GC,5685,0.74,146.0,432.3,12.8,328,5689,0.00,2.30,0.00,0.000,6,0.000,0.044,2880,1976,2200,0,0,0,0,0,0
$GC,6027,0.74,146.0,385.9,13.0,337,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1976,2197,0,0,0,0,0,0
$GC,6352,0.74,146.0,347.2,12.0,345,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1976,2195,0,0,0,0,0,0
$GC,6677,0.74,146.0,307.5,12.8,353,6681,0.00,2.28,0.00,0.000,4,0.000,0.053,2881,3396,2193,0,0,0,0,0,0
$GC,6716,0.74,146.0,301.9,14.0,353,6721,0.00,2.30,0.00,0.000,6,0.000,0.052,2890,1973,2192,0,0,0,0,0,0
$GC,7031,0.74,146.0,263.9,10.6,368,7035,0.00,2.25,0.00,0.000,4,0.000,0.061,2900,563,2191,0,0,0,0,0,0
$GC,7070,0.74,146.0,259.9,10.2,370,7074,0.00,2.22,0.00,0.000,6,0.000,0.042,2900,1979,2192,0,0,0,0,0,0
$GC,7397,0.74,146.0,224.5,10.8,386,7401,0.00,2.22,0.00,0.000,4,0.000,0.054,2900,3388,2191,0,0,0,0,0,0
$GC,7519,0.74,146.0,210.4,10.6,391,7526,0.12,2.22,0.00,0.000,6,0.149,0.041,2876,1974,2190,0,0,0,0,0,0
$GC,7847,0.77,169.4,181.4,8.1,416,7869,0.00,0.00,19.08,0.579,6,0.000,0.000,2875,1974,2108,0,0,0,0,0,0
$GC,8190,0.80,195.9,151.6,7.9,448,8224,0.00,2.33,23.98,0.561,4,0.000,0.051,2875,3392,2000,0,0,0,0,0,0
$GC,8250,0.81,202.8,146.7,8.7,453,8263,0.00,2.22,7.32,0.479,6,0.000,0.042,2884,1973,1972,0,0,0,0,0,0
$GC,8583,0.83,222.5,120.5,8.2,484,8607,0.00,2.22,18.55,0.516,4,0.000,0.054,2893,573,1891,0,0,0,0,0,0
$GC,8634,0.87,252.4,116.2,7.8,488,8667,0.00,2.22,26.77,0.521,6,0.000,0.035,2892,1988,1772,0,0,0,0,0,0
$GC,8995,0.87,252.4,84.9,9.6,522,8999,0.00,2.22,0.00,0.000,4,0.000,0.054,2893,3389,1771,0,0,0,0,0,0
$GC,9116,0.87,252.4,73.4,9.2,539,9121,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1975,1770,0,0,0,0,0,0
$GC,9447,0.94,312.7,48.4,6.5,600,9507,0.15,2.22,52.78,0.470,4,0.066,0.053,3004,573,1523,0,0,0,0,0,0
$GC,9529,0.94,312.7,39.5,12.9,613,9535,0.20,2.20,0.00,0.000,6,0.124,0.035,2946,1982,1522,0,0,0,0,0,0
$GC,9858,1.01,369.3,4.2,6.7,674,9873,0.00,0.00,12.60,0.405,2,0.000,0.000,2946,1982,1468,0,0,0,0,0,0
$STATE,9874,end climb,SURFACE_DEPTH_REACHED
$STATE,9874,begin surface coast
$FINISH,0.5,0.997362
$STATE,9918,end surface coast,CONTROL_FINISHED_OK
$STATE,9918,begin surface
$SM_CCo,9996,0.00,0.000,0,0,1463,327.72
$SM_GC,1.51,7.47,0.00,0.00,0.028,0.000,0.000,29,1987,1463,-8.01,0.85,327.72
$IRIDIUM_FIX,2050.21,-15759.92,200902,212127
$TT8_MAMPS,0.027612
$HUMID,64.88
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.4,48.967
$10V_AH,10.3,53.479
$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,19.175,80.575,410.900,0.000,0.000,29.135,34.957,146.628,19.250,0.000,61.988,1237.266,5899.248,410.800,2354.701,478.030,0.000,1253.284,0.000,2256.979,0.000,117.253,0.000
$DEVICE_MAMPS,221.663,64.428,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,464.711,399.426,1337.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,37998,684
$CAP_FILE_SIZE,105832,0
$CFSIZE,260165632,227254272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,032912,2102.051,-15756.306,16,1.0,16,9.8