version: 66.06
glider: 523
mission: 4
dive: 575
start: 6 27 113 3 42 7
data:
$ID,523
$MISSION,4
$DIVE,575
$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,-47519.773
$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,30
$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
$GPS1,032912,2102.051,-15756.306,16,1.0,16,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.7
$GPS2,034149,2102.069,-15756.430,19,0.9,19,9.8
$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,310.2,15145,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-76.32,0.000,2,0.000,0.000,23,1986,3284,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.8,12,120,9.60,2.22,-2.55,0.000,4,0.221,0.066,2386,3357,3398,0,0,0,0,0,0
$GC,284,-0.74,-146.0,35.2,-13.7,46,291,0.00,2.25,0.00,0.000,6,0.000,0.043,2386,1962,3398,0,0,0,0,0,0
$GC,620,-0.74,-146.0,78.3,-10.6,107,625,0.00,2.28,0.00,0.000,4,0.000,0.058,2386,548,3400,0,0,0,0,0,0
$GC,840,-0.74,-146.0,104.8,-12.1,129,845,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1972,3399,0,0,0,0,0,0
$GC,1174,-0.74,-146.0,140.5,-9.6,160,1178,0.00,2.33,0.00,0.000,4,0.000,0.054,2376,541,3400,0,0,0,0,0,0
$GC,1422,-0.74,-146.0,166.0,-10.0,182,1428,0.10,2.17,0.00,0.000,6,0.137,0.034,2399,1953,3401,0,0,0,0,0,0
$GC,1748,-0.74,-146.0,196.7,-10.3,213,1752,0.00,2.30,0.00,0.000,4,0.000,0.053,2399,541,3401,0,0,0,0,0,0
$GC,1961,-0.74,-146.0,217.0,-7.6,223,1966,0.00,2.17,0.00,0.000,6,0.000,0.034,2391,1967,3401,0,0,0,0,0,0
$GC,2279,-0.74,-146.0,239.3,-7.4,239,2283,0.00,2.20,0.00,0.000,4,0.000,0.054,2380,3358,3401,0,0,0,0,0,0
$GC,2359,-0.74,-146.0,245.4,-7.0,242,2363,0.00,2.20,0.00,0.000,6,0.000,0.044,2380,1951,3401,0,0,0,0,0,0
$GC,2682,-0.74,-146.0,266.7,-6.7,258,2686,0.00,2.25,0.00,0.000,4,0.000,0.056,2380,549,3401,0,0,0,0,0,0
$GC,2940,-0.74,-146.0,289.4,-8.5,269,2946,0.12,2.15,0.00,0.000,6,0.167,0.034,2403,1961,3401,0,0,0,0,0,0
$GC,3278,-0.74,-146.0,308.0,-4.7,282,3282,0.00,2.25,0.00,0.000,4,0.000,0.055,2404,549,3400,0,0,0,0,0,0
$GC,3536,-0.74,-146.0,325.6,-7.2,287,3542,0.00,2.15,0.00,0.000,6,0.000,0.037,2395,1955,3399,0,0,0,0,0,0
$GC,3868,-0.74,-146.0,345.4,-6.0,296,3872,0.00,2.28,0.00,0.000,4,0.000,0.057,2396,549,3398,0,0,0,0,0,0
$GC,4127,-0.74,-146.0,363.8,-7.3,301,4133,0.00,2.17,0.00,0.000,6,0.000,0.039,2386,1958,3396,0,0,0,0,0,0
$GC,4461,-0.74,-146.0,380.5,-4.8,310,4465,0.00,2.28,0.00,0.000,4,0.000,0.059,2387,548,3394,0,0,0,0,0,0
$GC,4720,-0.74,-146.0,396.7,-6.4,315,4725,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1962,3392,0,0,0,0,0,0
$GC,5051,-0.74,-146.0,417.1,-6.0,324,5055,0.00,2.28,0.00,0.000,4,0.000,0.059,2377,551,3390,0,0,0,0,0,0
$GC,5265,-0.74,-146.0,429.5,-5.0,328,5271,0.12,2.17,0.00,0.000,6,0.162,0.042,2400,1955,3388,0,0,0,0,0,0
$STATE,5431,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5431,begin apogee
$GC,5438,-0.17,0.0,437.0,4.5,333,5562,0.55,0.00,121.43,0.745,6,0.110,0.000,2581,1955,2800,0,0,0,0,0,0
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5566,0.74,146.0,436.4,0.0,336,5703,0.82,2.42,127.85,0.719,4,0.077,0.059,2870,3379,2203,0,0,0,0,0,0
$GC,5743,0.74,146.0,416.9,15.4,340,5747,0.00,2.28,0.00,0.000,6,0.000,0.047,2879,1985,2200,0,0,0,0,0,0
$GC,6055,0.74,146.0,378.0,11.6,348,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1985,2196,0,0,0,0,0,0
$GC,6380,0.74,146.0,338.6,12.4,356,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1985,2194,0,0,0,0,0,0
$GC,6705,0.74,146.0,305.4,9.1,364,6709,0.00,2.25,0.00,0.000,4,0.000,0.054,2879,3395,2192,0,0,0,0,0,0
$GC,6789,0.74,146.0,296.8,10.1,365,6795,0.00,2.25,0.00,0.000,6,0.000,0.041,2889,1965,2191,0,0,0,0,0,0
$GC,7105,0.74,146.0,263.8,11.0,381,7109,0.00,2.20,0.00,0.000,4,0.000,0.056,2899,572,2191,0,0,0,0,0,0
$GC,7160,0.74,146.0,257.4,11.9,383,7166,0.00,2.20,0.00,0.000,6,0.000,0.035,2899,1996,2190,0,0,0,0,0,0
$GC,7476,0.74,146.0,223.7,9.7,399,7480,0.00,2.17,0.00,0.000,4,0.000,0.053,2899,3382,2190,0,0,0,0,0,0
$GC,7630,0.74,146.0,207.3,12.3,406,7635,0.12,2.20,0.00,0.000,6,0.149,0.041,2874,1978,2189,0,0,0,0,0,0
$GC,7956,0.74,146.0,176.4,10.2,433,7960,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3381,2189,0,0,0,0,0,0
$GC,7986,0.74,146.0,173.5,10.4,435,7990,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1978,2189,0,0,0,0,0,0
$GC,8313,0.78,177.7,149.2,7.7,465,8342,0.00,0.00,25.80,0.559,6,0.000,0.000,2882,1978,2074,0,0,0,0,0,0
$GC,8662,0.78,179.1,120.5,9.0,498,8666,0.00,2.25,0.00,0.000,4,0.000,0.051,2881,3389,2071,0,0,0,0,0,0
$GC,8691,0.78,179.1,117.5,10.6,500,8695,0.00,2.25,0.00,0.000,6,0.000,0.052,2890,1982,2071,0,0,0,0,0,0
$GC,9020,0.81,209.5,89.5,7.8,530,9050,0.00,0.00,28.17,0.504,6,0.000,0.000,2890,1981,1945,0,0,0,0,0,0
$GC,9369,0.81,209.5,60.6,9.2,584,9376,0.00,2.30,0.00,0.000,4,0.000,0.055,2890,3378,1942,0,0,0,0,0,0
$GC,9402,0.81,209.5,57.5,10.2,589,9407,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1968,1942,0,0,0,0,0,0
$GC,9731,0.91,288.4,32.6,5.8,650,9808,0.12,2.33,67.85,0.459,4,0.074,0.053,2985,3379,1623,0,0,0,0,0,0
$GC,9854,0.91,288.4,18.7,12.0,670,9861,0.17,2.28,0.00,0.000,6,0.111,0.046,2937,1986,1622,0,0,0,0,0,0
$GC,10021,0.91,288.4,3.4,11.6,701,10029,0.00,2.28,0.00,0.000,4,0.000,0.055,2937,3376,1622,0,0,0,0,0,0
$STATE,10035,end climb,SURFACE_DEPTH_REACHED
$STATE,10035,begin surface coast
$FINISH,0.4,1.015215
$STATE,10058,end surface coast,CONTROL_FINISHED_OK
$STATE,10058,begin surface
$SM_CCo,10078,7.43,0.367,0,0,1575,300.24
$SM_GC,1.42,0.00,0.00,7.43,0.000,0.000,0.367,49,1939,1575,-8.10,-0.51,300.24
$IRIDIUM_FIX,2054.83,-15802.06,210902,030314
$TT8_MAMPS,0.028379
$HUMID,66.57
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,390.1,57.5
$24V_AH,24.4,49.064
$10V_AH,10.2,53.587
$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,19.225,85.075,371.100,7.425,0.000,73.253,100.617,304.170,16.500,0.000,22.520,1290.458,5910.856,413.339,2451.335,775.169,0.000,1288.765,0.000,2399.322,0.000,103.692,0.000
$DEVICE_MAMPS,220.896,65.962,744.757,367.393,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,478.796,409.060,1388.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38088,707
$CAP_FILE_SIZE,115301,0
$CFSIZE,260165632,227188736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,063128,2102.965,-15757.907,35,0.8,35,9.8