version: 66.06
glider: 523
mission: 4
dive: 616
start: 7 1 113 23 13 28
data:
$ID,523
$MISSION,4
$DIVE,616
$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,-48430.645
$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,21
$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
$GPS1,230705,2057.478,-15752.844,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.0
$GPS2,231312,2057.447,-15752.836,19,1.3,19,9.8
$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,311.9,25703,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-81.18,0.000,6,0.000,0.000,28,1942,3397,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.7,-6.2,13,120,9.57,2.25,0.00,0.000,4,0.219,0.047,2386,3365,3398,0,0,0,0,0,0
$GC,240,-0.74,-146.0,29.2,-15.5,37,247,0.00,2.25,0.00,0.000,6,0.000,0.042,2386,1955,3399,0,0,0,0,0,0
$GC,414,-0.74,-146.0,54.9,-13.0,68,421,0.00,2.30,0.00,0.000,4,0.000,0.060,2386,547,3400,0,0,0,0,0,0
$GC,638,-0.74,-146.0,85.9,-11.9,104,646,0.00,2.22,0.00,0.000,6,0.000,0.040,2377,1955,3400,0,0,0,0,0,0
$GC,966,-0.74,-146.0,118.7,-10.0,135,970,0.00,2.28,0.00,0.000,4,0.000,0.058,2377,538,3402,0,0,0,0,0,0
$GC,1217,-0.74,-146.0,141.9,-6.7,157,1224,0.10,2.22,0.00,0.000,6,0.132,0.039,2399,1957,3402,0,0,0,0,0,0
$GC,1545,-0.74,-146.0,163.6,-7.4,188,1549,0.00,2.33,0.00,0.000,4,0.000,0.057,2400,545,3403,0,0,0,0,0,0
$GC,1609,-0.74,-146.0,169.0,-8.7,193,1613,0.00,2.20,0.00,0.000,6,0.000,0.039,2392,1960,3403,0,0,0,0,0,0
$GC,1936,-0.74,-146.0,194.4,-7.7,223,1943,0.00,2.33,0.00,0.000,4,0.000,0.056,2392,534,3403,0,0,0,0,0,0
$GC,2194,-0.74,-146.0,214.6,-7.7,237,2198,0.00,2.20,0.00,0.000,6,0.000,0.039,2382,1961,3403,0,0,0,0,0,0
$GC,2519,-0.74,-146.0,240.0,-8.6,253,2523,0.00,2.30,0.00,0.000,4,0.000,0.055,2382,546,3403,0,0,0,0,0,0
$GC,2657,-0.74,-146.0,254.5,-10.3,259,2661,0.00,2.17,0.00,0.000,6,0.000,0.038,2373,1961,3403,0,0,0,0,0,0
$GC,2989,-0.74,-146.0,281.8,-7.9,275,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1961,3403,0,0,0,0,0,0
$GC,3298,-0.74,-146.0,302.7,-6.3,289,3302,0.00,2.30,0.00,0.000,4,0.000,0.054,2373,547,3403,0,0,0,0,0,0
$GC,3557,-0.74,-146.0,319.7,-7.4,294,3562,0.15,2.20,0.00,0.000,6,0.146,0.039,2405,1961,3402,0,0,0,0,0,0
$GC,3893,-0.74,-146.0,340.1,-6.2,302,3897,0.00,2.30,0.00,0.000,4,0.000,0.056,2405,541,3400,0,0,0,0,0,0
$GC,3960,-0.74,-146.0,344.8,-6.0,303,3965,0.00,2.20,0.00,0.000,6,0.000,0.040,2397,1955,3400,0,0,0,0,0,0
$GC,4302,-0.74,-146.0,364.2,-5.6,312,4306,0.00,2.33,0.00,0.000,4,0.000,0.058,2397,535,3398,0,0,0,0,0,0
$GC,4465,-0.74,-146.0,374.3,-6.7,315,4469,0.00,2.22,0.00,0.000,6,0.000,0.041,2388,1957,3396,0,0,0,0,0,0
$GC,4798,-0.74,-146.0,394.5,-5.9,323,4802,0.00,2.30,0.00,0.000,4,0.000,0.062,2377,3368,3395,0,0,0,0,0,0
$GC,4893,-0.74,-146.0,401.0,-7.1,325,4897,0.00,2.28,0.00,0.000,6,0.000,0.046,2377,1945,3395,0,0,0,0,0,0
$GC,5206,-0.74,-146.0,424.1,-7.3,333,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1945,3393,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5414,-0.17,0.0,437.5,6.5,338,5540,0.65,0.00,122.62,0.743,6,0.115,0.000,2585,1945,2799,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,438.4,0.0,341,5682,0.82,2.45,127.47,0.719,4,0.071,0.054,2878,3385,2203,0,0,0,0,0,0
$GC,5867,0.74,146.0,396.5,14.7,348,5871,0.00,2.28,0.00,0.000,6,0.000,0.044,2888,1976,2197,0,0,0,0,0,0
$GC,6215,0.74,146.0,353.5,12.3,357,6219,0.00,2.30,0.00,0.000,4,0.000,0.057,2888,3395,2195,0,0,0,0,0,0
$GC,6271,0.74,146.0,346.1,13.3,358,6275,0.00,2.25,0.00,0.000,6,0.000,0.047,2897,1978,2194,0,0,0,0,0,0
$GC,6619,0.74,146.0,303.4,12.2,367,6623,0.00,2.28,0.00,0.000,4,0.000,0.059,2897,3386,2194,0,0,0,0,0,0
$GC,6703,0.74,146.0,292.9,12.7,370,6707,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,1970,2193,0,0,0,0,0,0
$GC,7030,0.74,146.0,256.3,10.7,386,7034,0.00,2.30,0.00,0.000,4,0.000,0.058,2906,3388,2192,0,0,0,0,0,0
$GC,7184,0.74,146.0,239.5,11.5,393,7188,0.12,2.28,0.00,0.000,6,0.151,0.048,2876,1972,2191,0,0,0,0,0,0
$GC,7510,0.74,146.0,210.4,9.2,409,7515,0.00,2.30,0.00,0.000,4,0.000,0.060,2876,3386,2191,0,0,0,0,0,0
$GC,7611,0.74,146.0,199.5,10.6,413,7617,0.00,2.25,0.00,0.000,6,0.000,0.048,2882,1982,2190,0,0,0,0,0,0
$GC,7939,0.80,198.2,173.5,6.9,444,7986,0.00,0.00,43.47,0.591,6,0.000,0.000,2882,1982,1990,0,0,0,0,0,0
$GC,8306,0.82,212.1,144.6,8.5,478,8329,0.00,2.28,12.88,0.525,4,0.000,0.059,2882,3385,1934,0,0,0,0,0,0
$GC,8387,0.82,212.1,136.6,11.0,485,8391,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,1980,1933,0,0,0,0,0,0
$GC,8714,0.82,212.6,107.1,9.0,515,8718,0.00,2.30,0.00,0.000,4,0.000,0.059,2890,3392,1933,0,0,0,0,0,0
$GC,8788,0.82,212.6,99.1,10.6,521,8796,0.00,2.30,0.00,0.000,6,0.000,0.050,2893,1978,1932,0,0,0,0,0,0
$GC,9114,0.82,216.5,70.8,8.9,562,9126,0.00,2.30,5.30,0.395,4,0.000,0.058,2894,3382,1916,0,0,0,0,0,0
$GC,9156,0.82,216.5,67.0,9.7,569,9162,0.00,2.22,0.00,0.000,6,0.000,0.048,2895,1975,1916,0,0,0,0,0,0
$GC,9487,0.88,265.3,43.7,7.0,630,9533,0.00,0.00,43.12,0.472,6,0.000,0.000,2895,1975,1717,0,0,0,0,0,0
$GC,9858,0.96,330.4,18.0,6.3,698,9924,0.15,2.33,55.40,0.443,4,0.068,0.063,3013,574,1451,0,0,0,0,0,0
$GC,9934,0.96,330.4,9.8,11.8,709,9942,0.17,2.25,0.00,0.000,6,0.104,0.038,2953,1984,1450,0,0,0,0,0,0
$STATE,10000,end climb,SURFACE_DEPTH_REACHED
$STATE,10000,begin surface coast
$FINISH,0.6,1.012438
$STATE,10035,end surface coast,CONTROL_FINISHED_OK
$STATE,10035,begin surface
$SM_CCo,10113,0.00,0.000,0,0,1446,332.13
$SM_GC,1.49,7.50,0.00,0.00,0.024,0.000,0.000,42,1985,1446,-7.99,0.85,332.13
$IRIDIUM_FIX,2045.60,-15753.50,250902,202054
$TT8_MAMPS,0.027612
$HUMID,65.16
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.4,52.713
$10V_AH,10.2,57.817
$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,19.250,86.350,410.275,0.000,0.000,26.891,34.512,156.890,18.250,0.000,19.713,1308.124,5732.208,409.217,2515.333,505.479,0.000,1317.771,0.000,2460.720,0.000,114.610,0.000
$DEVICE_MAMPS,219.362,62.894,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,492.676,418.350,1481.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41233,727
$CAP_FILE_SIZE,110139,0
$CFSIZE,260165632,225042432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,020255,2058.003,-15753.882,18,1.4,18,9.8