version: 66.06
glider: 523
mission: 4
dive: 523
start: 6 20 113 20 27 45
data:
$ID,523
$MISSION,4
$DIVE,523
$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,-46425.781
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,202118,2100.889,-15754.507,13,1.2,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,202729,2100.906,-15754.586,20,0.9,20,9.8
$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,307.0,18871,-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,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.70,0.000,6,0.000,0.000,42,1967,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.5,13,118,9.62,2.20,0.00,0.000,4,0.226,0.047,2384,3369,3397,0,0,0,0,0,0
$GC,265,-0.74,-146.0,36.5,-16.1,43,271,0.00,2.28,0.00,0.000,6,0.000,0.044,2384,1950,3399,0,0,0,0,0,0
$GC,598,-0.74,-146.0,80.0,-11.3,104,602,0.00,2.25,0.00,0.000,4,0.000,0.057,2385,537,3400,0,0,0,0,0,0
$GC,848,-0.74,-146.0,113.0,-11.9,126,856,0.00,2.22,0.00,0.000,6,0.000,0.037,2374,1971,3401,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,152.2,-13.2,157,1179,0.00,2.30,0.00,0.000,4,0.000,0.053,2374,544,3402,0,0,0,0,0,0
$GC,1203,-0.74,-146.0,156.0,-13.0,159,1209,0.10,2.20,0.00,0.000,6,0.143,0.036,2395,1962,3402,0,0,0,0,0,0
$GC,1531,-0.74,-146.0,181.7,-8.0,190,1535,0.00,2.30,0.00,0.000,4,0.000,0.053,2396,541,3402,0,0,0,0,0,0
$GC,1785,-0.74,-146.0,204.7,-8.5,210,1792,0.00,2.17,0.00,0.000,6,0.000,0.035,2388,1961,3402,0,0,0,0,0,0
$GC,2103,-0.74,-146.0,228.3,-7.8,226,2107,0.00,2.30,0.00,0.000,4,0.000,0.052,2388,536,3402,0,0,0,0,0,0
$GC,2196,-0.74,-146.0,235.6,-7.6,230,2200,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1958,3402,0,0,0,0,0,0
$GC,2525,-0.74,-146.0,258.6,-8.2,246,2529,0.00,2.20,0.00,0.000,4,0.000,0.056,2368,3362,3402,0,0,0,0,0,0
$GC,2664,-0.74,-146.0,269.6,-7.7,252,2669,0.12,2.20,0.00,0.000,6,0.152,0.041,2400,1949,3402,0,0,0,0,0,0
$GC,2997,-0.74,-146.0,290.7,-6.3,268,3001,0.00,2.28,0.00,0.000,4,0.000,0.053,2393,3361,3402,0,0,0,0,0,0
$GC,3026,-0.74,-146.0,292.5,-6.2,269,3030,0.00,2.22,0.00,0.000,6,0.000,0.042,2393,1949,3402,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,310.6,-5.1,281,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1949,3401,0,0,0,0,0,0
$GC,3689,-0.74,-146.0,324.3,-4.2,289,3693,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,549,3399,0,0,0,0,0,0
$GC,3948,-0.74,-146.0,339.6,-6.7,294,3953,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1955,3398,0,0,0,0,0,0
$GC,4282,-0.74,-146.0,368.6,-10.2,303,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3396,0,0,0,0,0,0
$GC,4606,-0.74,-146.0,406.1,-11.4,311,4610,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,550,3395,0,0,0,0,0,0
$GC,4680,-0.74,-146.0,413.7,-8.6,312,4684,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1965,3394,0,0,0,0,0,0
$GC,5011,-0.74,-146.0,427.0,-3.2,320,5015,0.00,2.33,0.00,0.000,4,0.000,0.059,2373,549,3392,0,0,0,0,0,0
$GC,5270,-0.74,-146.0,439.8,-5.7,325,5278,0.15,2.20,0.00,0.000,6,0.153,0.041,2405,1961,3391,0,0,0,0,0,0
$STATE,5404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5404,begin apogee
$GC,5410,-0.17,0.0,447.4,5.7,329,5535,0.55,0.00,121.68,0.757,6,0.114,0.000,2583,1961,2800,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5539,0.74,146.0,448.1,0.0,332,5677,0.82,2.35,126.93,0.732,4,0.077,0.058,2870,3380,2202,0,0,0,0,0,0
$GC,5722,0.74,146.0,429.8,12.7,336,5726,0.00,2.28,0.00,0.000,6,0.000,0.044,2879,1984,2200,0,0,0,0,0,0
$GC,6070,0.74,146.0,380.8,15.4,345,6074,0.00,2.28,0.00,0.000,4,0.000,0.057,2879,3389,2196,0,0,0,0,0,0
$GC,6119,0.74,146.0,373.1,15.3,346,6123,0.00,2.28,0.00,0.000,6,0.000,0.048,2888,1975,2194,0,0,0,0,0,0
$GC,6444,0.74,146.0,331.3,12.4,354,6448,0.00,2.33,0.00,0.000,4,0.000,0.058,2888,3390,2194,0,0,0,0,0,0
$GC,6471,0.74,146.0,327.6,12.7,354,6475,0.00,2.28,0.00,0.000,6,0.000,0.050,2897,1973,2193,0,0,0,0,0,0
$GC,6788,0.74,146.0,288.8,12.0,364,6792,0.00,2.25,0.00,0.000,4,0.000,0.060,2907,570,2192,0,0,0,0,0,0
$GC,6833,0.74,146.0,283.2,12.8,366,6837,0.00,2.20,0.00,0.000,6,0.000,0.038,2908,1987,2192,0,0,0,0,0,0
$GC,7165,0.74,146.0,240.0,12.8,382,7169,0.00,2.20,0.00,0.000,4,0.000,0.052,2907,3391,2191,0,0,0,0,0,0
$GC,7395,0.74,146.0,211.6,10.7,392,7400,0.15,2.28,0.00,0.000,6,0.139,0.050,2875,1974,2190,0,0,0,0,0,0
$GC,7723,0.74,146.0,183.6,9.6,416,7727,0.00,2.22,0.00,0.000,4,0.000,0.059,2884,572,2189,0,0,0,0,0,0
$GC,7763,0.74,146.0,179.9,9.6,419,7768,0.00,2.22,0.00,0.000,6,0.000,0.044,2884,1980,2189,0,0,0,0,0,0
$GC,8092,0.79,191.6,149.9,7.1,449,8139,0.00,2.25,37.30,0.578,4,0.000,0.052,2884,3382,2017,0,0,0,0,0,0
$GC,8210,0.79,191.6,140.3,9.4,459,8214,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1978,2015,0,0,0,0,0,0
$GC,8537,0.79,191.6,109.5,9.1,489,8541,0.00,2.25,0.00,0.000,4,0.000,0.050,2893,3393,2014,0,0,0,0,0,0
$GC,8567,0.79,191.6,106.9,9.1,491,8571,0.00,2.20,0.00,0.000,6,0.000,0.040,2898,1978,2014,0,0,0,0,0,0
$GC,8894,0.79,191.6,77.4,10.9,523,8899,0.00,2.28,0.00,0.000,4,0.000,0.059,2898,3398,2014,0,0,0,0,0,0
$GC,8929,0.79,191.6,73.4,11.5,529,8935,0.00,2.22,0.00,0.000,6,0.000,0.040,2908,1973,2013,0,0,0,0,0,0
$GC,9261,0.83,218.0,43.7,7.9,590,9292,0.00,2.28,23.38,0.465,4,0.000,0.050,2908,3389,1910,0,0,0,0,0,0
$GC,9310,0.88,258.5,40.0,7.4,598,9352,0.00,2.28,35.58,0.464,6,0.000,0.048,2916,1977,1744,0,0,0,0,0,0
$GC,9674,0.88,258.5,7.6,9.1,665,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1977,1743,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,0.7,1.023075
$STATE,9765,end surface coast,CONTROL_FINISHED_OK
$STATE,9766,begin surface
$SM_CCo,9783,19.52,0.415,0,0,1576,300.24
$SM_GC,1.75,0.00,0.00,19.52,0.000,0.000,0.415,38,1973,1576,-8.14,0.45,300.24
$IRIDIUM_FIX,2047.91,-15754.77,140902,171700
$TT8_MAMPS,0.028379
$HUMID,65.55
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,44.376
$10V_AH,10.4,48.286
$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,18.850,89.875,344.850,19.525,0.000,29.791,40.094,159.018,18.750,0.000,21.310,1248.169,5701.412,395.916,2319.283,504.943,0.000,1233.082,0.000,2265.242,0.000,117.664,0.000
$DEVICE_MAMPS,226.265,59.826,757.029,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,463.024,394.064,1336.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38161,682
$CAP_FILE_SIZE,106439,0
$CFSIZE,260165632,229912576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,231235,2101.584,-15755.683,47,0.8,47,9.8