version: 66.06
glider: 523
mission: 4
dive: 613
start: 7 1 113 14 19 57
data:
$ID,523
$MISSION,4
$DIVE,613
$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,-48349.91
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,141335,2056.854,-15749.762,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.9
$GPS2,141941,2056.854,-15749.771,19,0.8,19,9.8
$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,305.2,30049,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,112,0.00,0.00,-91.00,0.000,6,0.000,0.000,52,1970,3396,0,0,0,0,0,0
$GC,116,-0.74,-146.0,3.6,-5.5,15,131,9.55,2.20,0.00,0.000,4,0.224,0.048,2381,3369,3398,0,0,0,0,0,0
$GC,240,-0.74,-146.0,30.5,-16.2,37,245,0.00,2.25,0.00,0.000,6,0.000,0.043,2380,1946,3399,0,0,0,0,0,0
$GC,569,-0.74,-146.0,76.7,-11.5,98,576,0.00,2.28,0.00,0.000,4,0.000,0.053,2372,3360,3398,0,0,0,0,0,0
$GC,776,-0.74,-146.0,100.0,-11.1,119,784,0.08,2.22,0.00,0.000,6,0.130,0.044,2395,1959,3399,0,0,0,0,0,0
$GC,1103,-0.74,-146.0,131.5,-8.6,150,1107,0.00,2.25,0.00,0.000,4,0.000,0.059,2396,538,3400,0,0,0,0,0,0
$GC,1355,-0.74,-146.0,154.3,-9.2,172,1362,0.00,2.22,0.00,0.000,6,0.000,0.038,2388,1961,3401,0,0,0,0,0,0
$GC,1683,-0.74,-146.0,180.7,-7.9,203,1687,0.00,2.28,0.00,0.000,4,0.000,0.056,2388,548,3401,0,0,0,0,0,0
$GC,1934,-0.74,-146.0,206.3,-11.5,223,1940,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1967,3401,0,0,0,0,0,0
$GC,2252,-0.74,-146.0,233.5,-6.6,239,2256,0.00,2.33,0.00,0.000,4,0.000,0.057,2378,542,3401,0,0,0,0,0,0
$GC,2511,-0.74,-146.0,254.5,-7.1,250,2518,0.12,2.17,0.00,0.000,6,0.160,0.039,2401,1958,3401,0,0,0,0,0,0
$GC,2830,-0.74,-146.0,276.5,-7.1,266,2834,0.00,2.30,0.00,0.000,4,0.000,0.057,2402,544,3401,0,0,0,0,0,0
$GC,2885,-0.74,-146.0,281.0,-7.8,268,2889,0.00,2.20,0.00,0.000,6,0.000,0.040,2394,1958,3401,0,0,0,0,0,0
$GC,3223,-0.74,-146.0,303.8,-6.9,283,3227,0.00,2.30,0.00,0.000,4,0.000,0.058,2393,549,3401,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,314.8,-7.0,286,3380,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1960,3400,0,0,0,0,0,0
$GC,3688,-0.74,-146.0,338.2,-7.9,294,3692,0.00,2.33,0.00,0.000,4,0.000,0.058,2383,538,3399,0,0,0,0,0,0
$GC,3947,-0.74,-146.0,359.8,-7.2,299,3956,0.00,2.22,0.00,0.000,6,0.000,0.040,2374,1964,3398,0,0,0,0,0,0
$GC,4279,-0.74,-146.0,384.0,-7.2,308,4283,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,548,3395,0,0,0,0,0,0
$GC,4422,-0.74,-146.0,395.1,-8.7,311,4427,0.12,2.20,0.00,0.000,6,0.155,0.041,2398,1958,3394,0,0,0,0,0,0
$GC,4739,-0.74,-146.0,415.0,-6.2,319,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1958,3393,0,0,0,0,0,0
$GC,5061,-0.74,-146.0,431.9,-4.9,327,5065,0.00,2.33,0.00,0.000,4,0.000,0.059,2398,543,3391,0,0,0,0,0,0
$GC,5307,-0.74,-146.0,445.6,-5.4,332,5311,0.00,2.22,0.00,0.000,6,0.000,0.042,2390,1960,3389,0,0,0,0,0,0
$STATE,5400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5400,begin apogee
$GC,5407,-0.17,0.0,450.9,5.7,335,5533,0.60,0.00,122.05,0.752,6,0.113,0.000,2584,1960,2800,0,0,0,0,0,0
$STATE,5533,end apogee,CONTROL_FINISHED_OK
$STATE,5533,begin climb
$GC,5536,0.74,146.0,451.8,0.0,338,5675,0.82,2.38,127.45,0.726,4,0.072,0.061,2875,3383,2203,0,0,0,0,0,0
$GC,5736,0.74,146.0,428.3,14.9,342,5740,0.00,2.30,0.00,0.000,6,0.000,0.047,2885,1981,2200,0,0,0,0,0,0
$GC,6073,0.74,146.0,383.5,13.0,351,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2196,0,0,0,0,0,0
$GC,6399,0.74,146.0,347.4,10.9,359,6403,0.00,2.28,0.00,0.000,4,0.000,0.059,2885,3393,2195,0,0,0,0,0,0
$GC,6478,0.74,146.0,336.9,13.8,360,6484,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1982,2194,0,0,0,0,0,0
$GC,6791,0.74,146.0,295.9,12.9,369,6795,0.00,2.28,0.00,0.000,4,0.000,0.059,2893,3390,2193,0,0,0,0,0,0
$GC,6846,0.74,146.0,288.8,12.3,371,6852,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,1980,2192,0,0,0,0,0,0
$GC,7162,0.74,146.0,257.3,10.3,387,7166,0.00,2.30,0.00,0.000,4,0.000,0.065,2909,569,2191,0,0,0,0,0,0
$GC,7189,0.74,146.0,254.6,9.7,388,7194,0.12,2.22,0.00,0.000,6,0.140,0.041,2875,1984,2190,0,0,0,0,0,0
$GC,7505,0.75,153.5,227.5,8.7,403,7516,0.00,2.25,5.70,0.502,4,0.000,0.062,2875,3390,2172,0,0,0,0,0,0
$GC,7594,0.75,153.5,218.6,10.2,407,7599,0.00,2.28,0.00,0.000,6,0.000,0.049,2882,1980,2171,0,0,0,0,0,0
$GC,7921,0.77,173.0,191.6,8.2,427,7941,0.00,0.00,18.23,0.582,6,0.000,0.000,2882,1980,2093,0,0,0,0,0,0
$GC,8259,0.77,173.0,160.0,10.1,459,8263,0.00,2.33,0.00,0.000,4,0.000,0.061,2882,3389,2091,0,0,0,0,0,0
$GC,8386,0.77,173.0,146.8,9.6,470,8390,0.00,2.28,0.00,0.000,6,0.000,0.049,2890,1977,2090,0,0,0,0,0,0
$GC,8714,0.82,214.9,119.7,7.3,500,8758,0.00,0.00,36.78,0.535,6,0.000,0.000,2890,1977,1921,0,0,0,0,0,0
$GC,9079,0.85,235.5,89.9,8.2,534,9102,0.00,2.30,18.42,0.488,4,0.000,0.061,2891,3385,1840,0,0,0,0,0,0
$GC,9173,0.85,235.5,81.4,9.9,542,9180,0.00,2.30,0.00,0.000,6,0.000,0.050,2891,1981,1840,0,0,0,0,0,0
$GC,9502,0.92,293.6,57.5,6.6,602,9560,0.12,2.33,50.95,0.479,4,0.074,0.065,2998,569,1602,0,0,0,0,0,0
$GC,9612,0.92,293.6,45.4,12.3,621,9618,0.20,2.25,0.00,0.000,6,0.117,0.039,2937,1987,1601,0,0,0,0,0,0
$GC,9941,0.92,293.6,16.5,9.8,682,9949,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3383,1600,0,0,0,0,0,0
$STATE,10064,end climb,SURFACE_DEPTH_REACHED
$STATE,10064,begin surface coast
$FINISH,0.7,1.023001
$STATE,10083,end surface coast,CONTROL_FINISHED_OK
$STATE,10083,begin surface
$SM_CCo,10104,3.65,0.285,0,0,1576,300.24
$SM_GC,2.07,0.00,0.00,3.65,0.000,0.000,0.285,36,1948,1576,-8.14,-0.25,300.24
$IRIDIUM_FIX,2045.60,-15753.50,250902,111152
$TT8_MAMPS,0.028379
$HUMID,67.36
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.9,45.6
$24V_AH,24.4,52.429
$10V_AH,10.2,57.498
$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,19.075,86.225,379.575,3.650,0.000,25.668,35.136,161.408,19.750,0.000,19.635,1289.188,5817.729,416.659,2448.613,495.476,0.000,1301.649,0.000,2392.386,0.000,125.098,0.000
$DEVICE_MAMPS,223.964,65.195,752.427,284.557,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,480.081,413.035,1393.033,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38012,708
$CAP_FILE_SIZE,109124,0
$CFSIZE,260165632,225214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,170933,2057.115,-15750.744,29,0.9,29,9.8