version: 66.06
glider: 523
mission: 4
dive: 576
start: 6 27 113 6 41 16
data:
$ID,523
$MISSION,4
$DIVE,576
$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,-47536.965
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,063128,2102.965,-15757.907,35,0.8,35,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.2
$GPS2,064059,2103.015,-15758.035,16,1.0,16,9.8
$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,315.0,12061,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,97,0.00,0.00,-76.38,0.000,2,0.000,0.000,48,1938,3394,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.4,-4.7,12,115,9.52,2.25,0.00,0.000,4,0.222,0.046,2381,3362,3396,0,0,0,0,0,0
$GC,205,-0.74,-146.0,25.8,-14.7,31,213,0.00,2.22,0.00,0.000,6,0.000,0.042,2381,1960,3397,0,0,0,0,0,0
$GC,377,-0.74,-146.0,52.3,-14.7,62,385,0.00,2.30,0.00,0.000,4,0.000,0.057,2381,541,3397,0,0,0,0,0,0
$GC,506,-0.74,-146.0,70.9,-13.5,85,512,0.00,2.17,0.00,0.000,6,0.000,0.036,2372,1954,3397,0,0,0,0,0,0
$GC,840,-0.74,-146.0,109.4,-10.5,123,846,0.10,2.30,0.00,0.000,4,0.171,0.054,2398,537,3398,0,0,0,0,0,0
$GC,1062,-0.74,-146.0,130.0,-9.0,143,1066,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1958,3399,0,0,0,0,0,0
$GC,1394,-0.74,-146.0,156.6,-9.1,174,1398,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,542,3400,0,0,0,0,0,0
$GC,1643,-0.74,-146.0,184.0,-12.1,196,1650,0.00,2.20,0.00,0.000,6,0.000,0.035,2380,1962,3400,0,0,0,0,0,0
$GC,1973,-0.74,-146.0,218.7,-9.3,219,1977,0.00,2.28,0.00,0.000,4,0.000,0.051,2380,537,3400,0,0,0,0,0,0
$GC,2073,-0.74,-146.0,227.6,-8.4,223,2079,0.12,2.17,0.00,0.000,6,0.162,0.035,2403,1959,3400,0,0,0,0,0,0
$GC,2392,-0.74,-146.0,246.2,-4.8,239,2396,0.00,2.22,0.00,0.000,4,0.000,0.056,2395,3361,3400,0,0,0,0,0,0
$GC,2479,-0.74,-146.0,251.6,-6.4,243,2483,0.00,2.22,0.00,0.000,6,0.000,0.041,2394,1952,3400,0,0,0,0,0,0
$GC,2807,-0.74,-146.0,272.9,-6.0,259,2811,0.00,2.22,0.00,0.000,4,0.000,0.054,2394,545,3400,0,0,0,0,0,0
$GC,3004,-0.74,-146.0,284.2,-5.4,267,3009,0.00,2.17,0.00,0.000,6,0.000,0.035,2385,1965,3400,0,0,0,0,0,0
$GC,3342,-0.74,-146.0,307.7,-7.6,282,3346,0.00,2.28,0.00,0.000,4,0.000,0.053,2385,544,3399,0,0,0,0,0,0
$GC,3451,-0.74,-146.0,316.6,-7.8,284,3455,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1957,3398,0,0,0,0,0,0
$GC,3800,-0.74,-146.0,340.4,-6.2,293,3804,0.00,2.33,0.00,0.000,4,0.000,0.055,2376,538,3397,0,0,0,0,0,0
$GC,3901,-0.74,-146.0,347.7,-7.0,295,3906,0.12,2.20,0.00,0.000,6,0.155,0.038,2399,1962,3396,0,0,0,0,0,0
$GC,4253,-0.74,-146.0,367.1,-5.8,304,4257,0.00,2.30,0.00,0.000,4,0.000,0.056,2399,545,3394,0,0,0,0,0,0
$GC,4390,-0.74,-146.0,375.6,-5.7,307,4394,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1962,3393,0,0,0,0,0,0
$GC,4710,-0.74,-146.0,397.9,-7.7,315,4714,0.00,2.30,0.00,0.000,4,0.000,0.058,2391,545,3391,0,0,0,0,0,0
$GC,4812,-0.74,-146.0,406.8,-8.4,317,4816,0.00,2.20,0.00,0.000,6,0.000,0.039,2382,1964,3391,0,0,0,0,0,0
$GC,5125,-0.74,-146.0,429.7,-7.1,325,5130,0.00,2.33,0.00,0.000,4,0.000,0.058,2382,546,3389,0,0,0,0,0,0
$GC,5386,-0.74,-146.0,447.8,-6.2,330,5390,0.00,2.20,0.00,0.000,6,0.000,0.039,2372,1963,3387,0,0,0,0,0,0
$STATE,5431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5431,begin apogee
$GC,5437,-0.17,0.0,450.3,5.4,331,5562,0.68,0.00,121.95,0.753,6,0.118,0.000,2586,1964,2798,0,0,0,0,0,0
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5566,0.74,146.0,449.9,0.0,334,5704,0.82,2.40,126.97,0.729,4,0.073,0.053,2873,3385,2203,0,0,0,0,0,0
$GC,5749,0.74,146.0,430.8,13.3,338,5753,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1980,2200,0,0,0,0,0,0
$GC,6097,0.74,146.0,386.8,13.2,347,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1981,2197,0,0,0,0,0,0
$GC,6422,0.74,146.0,349.2,10.9,355,6426,0.00,2.30,0.00,0.000,4,0.000,0.058,2883,3385,2195,0,0,0,0,0,0
$GC,6483,0.74,146.0,342.0,12.5,356,6487,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1969,2193,0,0,0,0,0,0
$GC,6825,0.74,146.0,300.9,12.0,365,6829,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3385,2193,0,0,0,0,0,0
$GC,6870,0.74,146.0,295.4,12.6,366,6874,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1982,2192,0,0,0,0,0,0
$GC,7191,0.74,146.0,257.7,12.3,382,7195,0.00,2.25,0.00,0.000,4,0.000,0.060,2911,569,2192,0,0,0,0,0,0
$GC,7230,0.74,146.0,252.8,12.9,384,7235,0.12,2.20,0.00,0.000,6,0.139,0.040,2877,1980,2191,0,0,0,0,0,0
$GC,7557,0.76,164.1,221.6,8.3,400,7578,0.00,2.22,14.65,0.596,4,0.000,0.053,2877,3387,2131,0,0,0,0,0,0
$GC,7702,0.76,164.1,207.9,10.5,406,7706,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1978,2128,0,0,0,0,0,0
$GC,8028,0.76,164.1,174.8,10.4,432,8032,0.00,2.30,0.00,0.000,4,0.000,0.060,2885,3396,2127,0,0,0,0,0,0
$GC,8080,0.76,164.1,169.3,10.9,436,8084,0.00,2.25,0.00,0.000,6,0.000,0.041,2894,1974,2127,0,0,0,0,0,0
$GC,8407,0.76,164.1,141.8,9.3,466,8411,0.00,2.28,0.00,0.000,4,0.000,0.054,2894,3392,2127,0,0,0,0,0,0
$GC,8512,0.76,164.1,131.5,9.5,475,8516,0.00,2.20,0.00,0.000,6,0.000,0.040,2904,1974,2127,0,0,0,0,0,0
$GC,8839,0.76,164.1,97.9,9.5,505,8843,0.00,2.25,0.00,0.000,4,0.000,0.051,2904,3391,2126,0,0,0,0,0,0
$GC,8913,0.76,164.1,90.3,10.3,511,8921,0.00,2.22,0.00,0.000,6,0.000,0.040,2913,1981,2126,0,0,0,0,0,0
$GC,9245,0.76,164.1,56.4,10.4,562,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1981,2127,0,0,0,0,0,0
$GC,9581,0.83,224.3,32.4,6.5,623,9641,0.00,2.30,51.85,0.469,4,0.000,0.050,2913,3388,1883,0,0,0,0,0,0
$GC,9677,0.83,224.3,24.7,9.6,639,9685,0.00,2.30,0.00,0.000,6,0.000,0.047,2921,1981,1882,0,0,0,0,0,0
$GC,9848,0.83,224.3,8.6,9.1,670,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1980,1881,0,0,0,0,0,0
$STATE,9907,end climb,SURFACE_DEPTH_REACHED
$STATE,9907,begin surface coast
$FINISH,0.9,1.023096
$STATE,9935,end surface coast,CONTROL_FINISHED_OK
$STATE,9935,begin surface
$SM_CCo,9953,35.72,0.427,0,0,1575,300.24
$SM_GC,1.41,0.00,0.00,35.72,0.000,0.000,0.427,27,1975,1575,-8.17,0.51,300.24
$IRIDIUM_FIX,2104.07,-15812.77,210902,060626
$TT8_MAMPS,0.028379
$HUMID,65.98
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,49.152
$10V_AH,10.2,53.689
$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,18.900,94.450,315.425,35.725,0.000,53.101,71.708,236.862,19.000,0.000,16.561,1282.763,5866.674,400.994,2353.539,652.033,0.000,1251.799,0.000,2301.321,0.000,117.269,0.000
$DEVICE_MAMPS,221.663,59.826,753.194,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,465.749,397.725,1321.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38145,686
$CAP_FILE_SIZE,112675,0
$CFSIZE,260165632,227139584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,092847,2104.232,-15759.015,22,0.8,22,9.8