version: 66.06
glider: 523
mission: 4
dive: 619
start: 7 2 113 8 3 48
data:
$ID,523
$MISSION,4
$DIVE,619
$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,-48484.707
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,075349,2058.700,-15756.198,15,1.4,16,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.2
$GPS2,080331,2058.635,-15756.229,16,0.8,17,9.8
$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,320.9,20597,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,34,1969,3363,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.2,12,113,9.50,2.30,-0.73,0.000,4,0.217,0.066,2384,3369,3399,0,0,0,0,0,0
$GC,280,-0.74,-146.0,36.9,-13.9,45,285,0.00,2.28,0.00,0.000,6,0.000,0.045,2384,1948,3401,0,0,0,0,0,0
$GC,617,-0.74,-146.0,81.5,-11.9,106,621,0.00,2.25,0.00,0.000,4,0.000,0.061,2384,549,3402,0,0,0,0,0,0
$GC,867,-0.74,-146.0,113.7,-12.6,128,874,0.00,2.20,0.00,0.000,6,0.000,0.039,2375,1956,3402,0,0,0,0,0,0
$GC,1195,-0.74,-146.0,145.2,-8.9,159,1199,0.00,2.30,0.00,0.000,4,0.000,0.056,2374,544,3403,0,0,0,0,0,0
$GC,1400,-0.74,-146.0,165.4,-10.0,177,1405,0.12,2.20,0.00,0.000,6,0.156,0.038,2397,1968,3403,0,0,0,0,0,0
$GC,1727,-0.74,-146.0,189.0,-7.0,207,1732,0.00,2.30,0.00,0.000,4,0.000,0.056,2398,539,3404,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,210.4,-7.9,224,1988,0.00,2.20,0.00,0.000,6,0.000,0.038,2390,1960,3404,0,0,0,0,0,0
$GC,2300,-0.74,-146.0,232.5,-6.6,240,2304,0.00,2.30,0.00,0.000,4,0.000,0.055,2390,542,3404,0,0,0,0,0,0
$GC,2357,-0.74,-146.0,236.9,-8.4,242,2362,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1959,3404,0,0,0,0,0,0
$GC,2675,-0.74,-146.0,258.5,-7.6,258,2679,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,548,3404,0,0,0,0,0,0
$GC,2776,-0.74,-146.0,267.6,-8.9,262,2782,0.12,2.17,0.00,0.000,6,0.154,0.039,2405,1958,3404,0,0,0,0,0,0
$GC,3094,-0.74,-146.0,287.9,-5.5,278,3098,0.00,2.30,0.00,0.000,4,0.000,0.056,2405,539,3404,0,0,0,0,0,0
$GC,3330,-0.74,-146.0,300.2,-5.1,288,3335,0.00,2.20,0.00,0.000,6,0.000,0.039,2397,1955,3403,0,0,0,0,0,0
$GC,3662,-0.74,-146.0,319.2,-6.2,297,3666,0.00,2.28,0.00,0.000,4,0.000,0.057,2397,548,3402,0,0,0,0,0,0
$GC,3723,-0.74,-146.0,323.8,-8.0,298,3727,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1962,3401,0,0,0,0,0,0
$GC,4071,-0.74,-146.0,348.9,-6.9,307,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1962,3400,0,0,0,0,0,0
$GC,4397,-0.74,-146.0,366.7,-5.3,315,4401,0.00,2.33,0.00,0.000,4,0.000,0.057,2388,545,3398,0,0,0,0,0,0
$GC,4655,-0.74,-146.0,385.0,-7.9,320,4664,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1959,3396,0,0,0,0,0,0
$GC,4987,-0.74,-146.0,406.0,-5.6,329,4991,0.00,2.35,0.00,0.000,4,0.000,0.059,2377,539,3395,0,0,0,0,0,0
$GC,5227,-0.74,-146.0,421.5,-6.1,334,5232,0.12,2.22,0.00,0.000,6,0.154,0.043,2401,1960,3394,0,0,0,0,0,0
$STATE,5404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5404,begin apogee
$GC,5411,-0.17,0.0,431.0,5.2,339,5536,0.55,0.00,122.45,0.739,6,0.110,0.000,2582,1960,2800,0,0,0,0,0,0
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5540,0.74,146.0,431.2,0.0,342,5678,0.82,2.38,126.93,0.714,4,0.068,0.059,2885,577,2203,0,0,0,0,0,0
$GC,5701,0.74,146.0,414.5,11.6,345,5707,0.00,2.28,0.00,0.000,6,0.000,0.041,2885,1979,2201,0,0,0,0,0,0
$GC,6032,0.74,146.0,376.3,11.9,354,6037,0.00,2.33,0.00,0.000,4,0.000,0.067,2885,3392,2197,0,0,0,0,0,0
$GC,6049,0.74,146.0,374.2,12.9,354,6053,0.00,2.28,0.00,0.000,6,0.000,0.047,2893,1979,2197,0,0,0,0,0,0
$GC,6397,0.74,146.0,329.6,12.1,363,6401,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,3386,2195,0,0,0,0,0,0
$GC,6482,0.74,146.0,319.8,12.5,365,6486,0.00,2.28,0.00,0.000,6,0.000,0.048,2895,1974,2193,0,0,0,0,0,0
$GC,6808,0.74,146.0,283.5,10.4,376,6812,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,3388,2193,0,0,0,0,0,0
$GC,6886,0.74,146.0,274.5,12.0,379,6891,0.00,2.28,0.00,0.000,6,0.000,0.050,2905,1979,2192,0,0,0,0,0,0
$GC,7201,0.74,146.0,239.5,11.0,395,7205,0.00,2.30,0.00,0.000,4,0.000,0.061,2905,3386,2191,0,0,0,0,0,0
$GC,7326,0.74,146.0,223.7,12.6,400,7332,0.12,2.28,0.00,0.000,6,0.146,0.051,2878,1980,2190,0,0,0,0,0,0
$GC,7646,0.78,182.9,194.1,7.5,419,7682,0.00,2.33,30.73,0.602,4,0.000,0.061,2878,3395,2052,0,0,0,0,0,0
$GC,7785,0.78,182.9,181.3,10.2,431,7789,0.00,2.30,0.00,0.000,6,0.000,0.053,2885,1978,2050,0,0,0,0,0,0
$GC,8117,0.78,182.9,148.9,9.4,462,8121,0.00,2.28,0.00,0.000,4,0.000,0.060,2895,563,2049,0,0,0,0,0,0
$GC,8138,0.80,194.2,146.8,8.6,463,8158,0.00,2.25,10.30,0.518,6,0.000,0.038,2895,1991,2008,0,0,0,0,0,0
$GC,8479,0.85,235.4,120.5,7.3,495,8526,0.00,2.25,36.95,0.538,4,0.000,0.052,2895,3382,1838,0,0,0,0,0,0
$GC,8659,0.85,235.4,102.3,10.4,511,8663,0.00,2.25,0.00,0.000,6,0.000,0.041,2904,1966,1837,0,0,0,0,0,0
$GC,8985,0.89,270.9,74.0,7.6,548,9027,0.00,2.33,31.75,0.492,4,0.000,0.051,2904,3389,1693,0,0,0,0,0,0
$GC,9111,0.89,270.9,63.6,9.2,570,9119,0.00,2.30,0.00,0.000,6,0.000,0.048,2904,1981,1693,0,0,0,0,0,0
$GC,9449,0.89,273.5,37.4,8.9,631,9454,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,570,1693,0,0,0,0,0,0
$GC,9553,0.89,273.5,27.7,9.4,650,9562,0.00,2.22,3.83,0.309,6,0.000,0.038,2905,1985,1684,0,0,0,0,0,0
$GC,9723,0.91,287.3,13.0,8.5,681,9744,0.00,2.35,13.27,0.416,4,0.000,0.062,2905,569,1627,0,0,0,0,0,0
$GC,9800,1.04,396.0,8.0,4.5,694,9853,0.15,2.22,46.65,0.434,2,0.025,0.037,3013,1980,1403,0,0,0,0,0,0
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,0.8,1.009609
$STATE,9879,end surface coast,CONTROL_FINISHED_OK
$STATE,9880,begin surface
$SM_CCo,9958,0.00,0.000,0,0,1398,343.66
$SM_GC,1.36,7.72,0.00,0.00,0.029,0.000,0.000,34,1981,1398,-8.00,0.71,343.66
$IRIDIUM_FIX,2052.52,-15752.63,260902,080853
$TT8_MAMPS,0.028379
$HUMID,64.72
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,396.7,44.9
$24V_AH,24.4,52.993
$10V_AH,10.1,58.132
$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,19.250,95.350,422.850,0.000,0.000,62.851,69.548,233.663,16.750,0.000,17.614,1272.717,5752.648,427.195,2421.750,657.656,0.000,1328.285,0.000,2373.830,0.000,103.218,0.000
$DEVICE_MAMPS,217.061,66.729,738.621,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,477.887,412.966,1389.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38024,706
$CAP_FILE_SIZE,113793,0
$CFSIZE,260165632,224878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,105058,2059.153,-15757.611,36,0.8,36,9.8