version: 66.06
glider: 523
mission: 4
dive: 614
start: 7 1 113 17 15 40
data:
$ID,523
$MISSION,4
$DIVE,614
$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,-48368.074
$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
$GPS1,170933,2057.115,-15750.744,29,0.9,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.7
$GPS2,171523,2057.128,-15750.755,17,1.0,17,9.8
$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,306.9,28501,-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,-77.40,0.000,6,0.000,0.000,36,1947,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.2,13,119,9.60,2.28,0.00,0.000,4,0.223,0.052,2383,3371,3397,0,0,0,0,0,0
$GC,196,-0.74,-146.0,24.1,-14.1,29,203,0.00,2.30,0.00,0.000,6,0.000,0.047,2384,1952,3398,0,0,0,0,0,0
$GC,366,-0.74,-146.0,52.4,-15.8,60,373,0.00,2.33,0.00,0.000,4,0.000,0.066,2384,544,3398,0,0,0,0,0,0
$GC,622,-0.74,-146.0,91.5,-13.2,99,626,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1957,3399,0,0,0,0,0,0
$GC,949,-0.74,-146.0,127.6,-10.6,129,953,0.00,2.33,0.00,0.000,4,0.000,0.060,2375,542,3399,0,0,0,0,0,0
$GC,1201,-0.74,-146.0,158.2,-9.5,151,1208,0.10,2.22,0.00,0.000,6,0.135,0.038,2396,1956,3401,0,0,0,0,0,0
$GC,1529,-0.74,-146.0,185.0,-7.8,182,1534,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,535,3402,0,0,0,0,0,0
$GC,1781,-0.74,-146.0,208.0,-9.7,201,1785,0.00,2.20,0.00,0.000,6,0.000,0.038,2389,1967,3402,0,0,0,0,0,0
$GC,2102,-0.74,-146.0,230.4,-6.3,216,2106,0.00,2.35,0.00,0.000,4,0.000,0.058,2389,535,3402,0,0,0,0,0,0
$GC,2359,-0.74,-146.0,252.0,-8.0,227,2365,0.00,2.22,0.00,0.000,6,0.000,0.039,2379,1962,3402,0,0,0,0,0,0
$GC,2677,-0.74,-146.0,274.4,-7.8,243,2682,0.00,2.30,0.00,0.000,4,0.000,0.057,2379,545,3402,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,289.3,-7.9,251,2867,0.12,2.20,0.00,0.000,6,0.162,0.040,2402,1964,3402,0,0,0,0,0,0
$GC,3206,-0.74,-146.0,312.3,-6.9,264,3210,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,3370,3402,0,0,0,0,0,0
$GC,3291,-0.74,-146.0,317.5,-5.9,266,3295,0.00,2.28,0.00,0.000,6,0.000,0.047,2394,1954,3402,0,0,0,0,0,0
$GC,3624,-0.74,-146.0,336.4,-6.2,274,3628,0.00,2.28,0.00,0.000,4,0.000,0.062,2394,544,3401,0,0,0,0,0,0
$GC,3782,-0.74,-146.0,350.1,-9.0,277,3786,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1967,3399,0,0,0,0,0,0
$GC,4125,-0.74,-146.0,378.1,-7.6,286,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1967,3398,0,0,0,0,0,0
$GC,4450,-0.74,-146.0,399.3,-6.5,294,4454,0.00,2.28,0.00,0.000,4,0.000,0.062,2374,3370,3395,0,0,0,0,0,0
$GC,4513,-0.74,-146.0,403.4,-6.1,295,4517,0.00,2.30,0.00,0.000,6,0.000,0.048,2374,1951,3396,0,0,0,0,0,0
$GC,4856,-0.74,-146.0,422.9,-5.3,304,4860,0.00,2.30,0.00,0.000,4,0.000,0.063,2374,536,3394,0,0,0,0,0,0
$GC,5064,-0.74,-146.0,434.2,-5.6,308,5069,0.12,2.20,0.00,0.000,6,0.156,0.041,2397,1959,3392,0,0,0,0,0,0
$STATE,5400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5402,begin apogee
$GC,5409,-0.17,0.0,450.7,5.4,317,5534,0.57,0.00,122.53,0.754,6,0.112,0.000,2585,1960,2800,0,0,0,0,0,0
$STATE,5535,end apogee,CONTROL_FINISHED_OK
$STATE,5535,begin climb
$GC,5539,0.74,146.0,451.7,0.0,320,5676,0.82,2.40,127.53,0.729,4,0.071,0.061,2877,3383,2203,0,0,0,0,0,0
$GC,5761,0.74,146.0,426.2,14.0,325,5765,0.00,2.30,0.00,0.000,6,0.000,0.046,2887,1976,2199,0,0,0,0,0,0
$GC,6074,0.74,146.0,385.0,13.0,333,6078,0.00,2.33,0.00,0.000,4,0.000,0.065,2897,565,2196,0,0,0,0,0,0
$GC,6124,0.74,146.0,378.4,12.8,334,6128,0.00,2.25,0.00,0.000,6,0.000,0.041,2897,1981,2195,0,0,0,0,0,0
$GC,6437,0.74,146.0,337.2,12.7,342,6441,0.00,2.28,0.00,0.000,4,0.000,0.062,2896,3388,2194,0,0,0,0,0,0
$GC,6532,0.74,146.0,324.3,13.5,344,6536,0.00,2.25,0.00,0.000,6,0.000,0.046,2906,1973,2193,0,0,0,0,0,0
$GC,6847,0.74,146.0,282.8,13.0,355,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1974,2193,0,0,0,0,0,0
$GC,7157,0.74,151.2,252.5,8.8,370,7167,0.00,2.33,3.83,0.424,4,0.000,0.058,2906,3382,2183,0,0,0,0,0,0
$GC,7207,0.74,151.2,247.2,11.2,372,7212,0.12,2.22,0.00,0.000,6,0.150,0.048,2878,1979,2182,0,0,0,0,0,0
$GC,7528,0.74,151.2,216.0,9.5,388,7532,0.00,2.28,0.00,0.000,4,0.000,0.060,2877,3389,2179,0,0,0,0,0,0
$GC,7567,0.74,151.2,212.1,10.5,390,7571,0.00,2.28,0.00,0.000,6,0.000,0.048,2885,1973,2179,0,0,0,0,0,0
$GC,7894,0.76,165.3,180.4,8.4,415,7918,0.00,2.35,13.77,0.564,4,0.000,0.060,2885,3390,2124,0,0,0,0,0,0
$GC,8029,0.76,165.3,165.1,13.0,427,8034,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1980,2123,0,0,0,0,0,0
$GC,8357,0.77,173.6,132.6,8.7,457,8370,0.00,2.25,8.35,0.490,4,0.000,0.057,2893,3388,2092,0,0,0,0,0,0
$GC,8406,0.77,173.6,128.0,9.5,461,8410,0.00,2.25,0.00,0.000,6,0.000,0.049,2894,1971,2090,0,0,0,0,0,0
$GC,8734,0.82,213.2,101.9,7.4,491,8780,0.00,2.38,35.17,0.521,4,0.000,0.058,2894,3395,1929,0,0,0,0,0,0
$GC,8827,0.82,213.2,94.5,9.1,499,8831,0.00,2.28,0.00,0.000,6,0.000,0.049,2902,1974,1927,0,0,0,0,0,0
$GC,9159,0.82,213.2,65.7,9.7,543,9164,0.00,2.30,0.00,0.000,4,0.000,0.058,2903,3393,1926,0,0,0,0,0,0
$GC,9205,0.82,213.2,61.4,10.0,551,9210,0.00,2.28,0.00,0.000,6,0.000,0.049,2910,1975,1926,0,0,0,0,0,0
$GC,9538,0.89,269.3,38.0,6.7,612,9591,0.00,2.28,48.38,0.463,4,0.000,0.062,2920,570,1702,0,0,0,0,0,0
$GC,9617,0.95,320.6,32.3,6.9,625,9672,0.00,2.20,44.53,0.449,6,0.000,0.038,2920,1980,1492,0,0,0,0,0,0
$GC,9835,0.97,334.6,14.3,8.5,664,9856,0.00,2.33,12.88,0.404,4,0.000,0.064,2920,3385,1434,0,0,0,0,0,0
$GC,9922,0.97,334.6,6.8,10.7,679,9929,0.00,2.30,0.00,0.000,6,0.000,0.046,2923,1975,1433,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.8,1.009952
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10072,0.00,0.000,0,0,1431,335.56
$SM_GC,1.48,7.35,0.00,0.00,0.021,0.000,0.000,41,1972,1431,-7.99,0.48,335.56
$IRIDIUM_FIX,2045.60,-15750.49,250902,141430
$TT8_MAMPS,0.027612
$HUMID,64.76
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.4,52.519
$10V_AH,10.2,57.600
$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,18.825,95.650,416.950,0.000,0.000,28.638,31.893,148.700,19.250,0.000,17.537,1271.153,5864.654,421.013,2360.879,496.695,0.000,1307.959,0.000,2309.506,0.000,122.365,0.000
$DEVICE_MAMPS,223.197,65.962,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,468.329,405.668,1343.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38174,692
$CAP_FILE_SIZE,110381,0
$CFSIZE,260165632,225157120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,200426,2057.258,-15751.703,17,0.8,18,9.8