version: 66.06
glider: 523
mission: 4
dive: 620
start: 7 2 113 10 57 3
data:
$ID,523
$MISSION,4
$DIVE,620
$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,-48504.551
$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,24
$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
$GPS1,105058,2059.153,-15757.611,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.6
$GPS2,105647,2059.161,-15757.646,18,0.9,18,9.8
$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,326.0,18624,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-84.43,0.000,6,0.000,0.000,34,1982,3395,0,0,0,0,0,0
$GC,110,-0.74,-146.0,3.8,-5.6,14,125,9.45,2.17,0.00,0.000,4,0.216,0.047,2381,3379,3396,0,0,0,0,0,0
$GC,196,-0.74,-146.0,23.9,-14.7,29,203,0.00,2.28,0.00,0.000,6,0.000,0.041,2380,1956,3397,0,0,0,0,0,0
$GC,366,-0.74,-146.0,50.4,-15.8,60,373,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,548,3397,0,0,0,0,0,0
$GC,621,-0.74,-146.0,84.5,-12.1,103,627,0.12,2.17,0.00,0.000,6,0.163,0.040,2403,1960,3398,0,0,0,0,0,0
$GC,955,-0.74,-146.0,113.2,-7.3,134,959,0.00,2.28,0.00,0.000,4,0.000,0.056,2404,542,3399,0,0,0,0,0,0
$GC,1194,-0.74,-146.0,135.8,-10.1,155,1198,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1959,3399,0,0,0,0,0,0
$GC,1522,-0.74,-146.0,164.2,-7.6,185,1526,0.00,2.30,0.00,0.000,4,0.000,0.056,2396,537,3401,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,183.8,-7.3,207,1780,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1954,3400,0,0,0,0,0,0
$GC,2097,-0.74,-146.0,206.0,-7.3,234,2101,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,538,3401,0,0,0,0,0,0
$GC,2119,-0.74,-146.0,208.1,-8.4,235,2123,0.00,2.22,0.00,0.000,6,0.000,0.039,2376,1967,3401,0,0,0,0,0,0
$GC,2443,-0.74,-146.0,233.8,-7.3,251,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1967,3401,0,0,0,0,0,0
$GC,2750,-0.74,-146.0,250.3,-6.5,266,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1967,3401,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,273.8,-7.2,281,3064,0.00,2.33,0.00,0.000,4,0.000,0.055,2376,544,3401,0,0,0,0,0,0
$GC,3179,-0.74,-146.0,283.6,-8.6,286,3184,0.12,2.20,0.00,0.000,6,0.150,0.040,2400,1964,3401,0,0,0,0,0,0
$GC,3522,-0.74,-146.0,308.2,-6.7,300,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1965,3400,0,0,0,0,0,0
$GC,3845,-0.74,-146.0,326.5,-5.5,308,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1965,3399,0,0,0,0,0,0
$GC,4170,-0.74,-146.0,343.6,-5.2,316,4174,0.00,2.25,0.00,0.000,4,0.000,0.061,2392,3361,3397,0,0,0,0,0,0
$GC,4315,-0.74,-146.0,350.8,-4.6,319,4319,0.00,2.25,0.00,0.000,6,0.000,0.044,2392,1952,3396,0,0,0,0,0,0
$GC,4665,-0.74,-146.0,366.9,-5.2,328,4669,0.00,2.28,0.00,0.000,4,0.000,0.061,2392,539,3394,0,0,0,0,0,0
$GC,4907,-0.74,-146.0,387.6,-8.7,333,4911,0.00,2.20,0.00,0.000,6,0.000,0.041,2382,1957,3392,0,0,0,0,0,0
$GC,5249,-0.74,-146.0,407.6,-6.2,342,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1957,3391,0,0,0,0,0,0
$STATE,5409,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5409,begin apogee
$GC,5415,-0.17,0.0,412.2,2.8,346,5540,0.57,0.00,121.25,0.727,6,0.071,0.000,2592,1960,2800,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5544,0.74,146.0,411.4,0.0,349,5682,0.77,2.40,127.00,0.702,4,0.066,0.062,2873,3386,2202,0,0,0,0,0,0
$GC,5891,0.74,146.0,374.8,12.3,357,5895,0.00,2.30,0.00,0.000,6,0.000,0.046,2882,1975,2197,0,0,0,0,0,0
$GC,6215,0.74,146.0,336.5,11.7,365,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1974,2195,0,0,0,0,0,0
$GC,6540,0.74,146.0,299.7,10.7,373,6544,0.00,2.30,0.00,0.000,4,0.000,0.059,2882,3386,2193,0,0,0,0,0,0
$GC,6704,0.74,146.0,281.3,11.0,380,6709,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1969,2193,0,0,0,0,0,0
$GC,7020,0.74,146.0,249.7,11.2,395,7024,0.00,2.30,0.00,0.000,4,0.000,0.059,2892,3385,2192,0,0,0,0,0,0
$GC,7120,0.74,146.0,236.4,13.4,399,7126,0.00,2.22,0.00,0.000,6,0.000,0.048,2901,1981,2191,0,0,0,0,0,0
$GC,7436,0.74,146.0,200.6,9.3,415,7440,0.00,2.30,0.00,0.000,4,0.000,0.059,2901,3389,2190,0,0,0,0,0,0
$GC,7629,0.74,146.0,182.2,9.3,432,7638,0.08,2.30,0.00,0.000,6,0.128,0.051,2882,1978,2190,0,0,0,0,0,0
$GC,7957,0.79,186.1,158.3,7.4,463,7995,0.00,2.30,32.90,0.569,4,0.000,0.062,2883,3386,2040,0,0,0,0,0,0
$GC,8073,0.81,203.0,148.7,8.3,473,8095,0.00,2.30,15.90,0.532,6,0.000,0.052,2889,1979,1971,0,0,0,0,0,0
$GC,8423,0.84,232.5,120.0,7.8,506,8455,0.00,2.35,26.98,0.528,4,0.000,0.061,2889,3388,1850,0,0,0,0,0,0
$GC,8475,0.86,249.0,115.8,8.4,511,8500,0.00,2.28,15.60,0.499,6,0.000,0.051,2891,1975,1784,0,0,0,0,0,0
$GC,8820,0.91,285.5,88.5,7.5,543,8860,0.12,0.00,32.60,0.499,6,0.073,0.000,2975,1975,1635,0,0,0,0,0,0
$GC,9185,0.91,285.5,44.6,12.9,603,9191,0.15,2.33,0.00,0.000,4,0.128,0.059,2931,3391,1635,0,0,0,0,0,0
$GC,9267,0.94,309.0,37.2,8.1,618,9298,0.00,2.30,21.10,0.454,6,0.000,0.051,2937,1980,1539,0,0,0,0,0,0
$GC,9621,0.95,320.8,8.7,8.5,683,9642,0.00,2.30,11.52,0.409,4,0.000,0.059,2937,3376,1490,0,0,0,0,0,0
$GC,9658,0.95,320.8,5.3,9.2,688,9665,0.00,2.28,0.00,0.000,6,0.000,0.051,2945,1982,1489,0,0,0,0,0,0
$STATE,9681,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FINISH,0.5,1.022291
$STATE,9713,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9791,0.00,0.000,0,0,1487,322.07
$SM_GC,1.39,7.38,0.00,0.00,0.021,0.000,0.000,31,1978,1487,-7.99,0.68,322.07
$IRIDIUM_FIX,2057.14,-15808.48,260902,080817
$TT8_MAMPS,0.027612
$HUMID,65.86
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,356.7,54.7
$24V_AH,24.4,53.080
$10V_AH,10.1,58.235
$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,18.775,72.750,404.850,0.000,0.000,24.628,31.917,151.041,14.500,0.000,19.211,1240.810,5649.258,407.311,2357.141,476.475,0.000,1251.868,0.000,2315.643,0.000,92.817,0.000
$DEVICE_MAMPS,215.527,62.127,727.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.293,416.779,1442.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,38172,698
$CAP_FILE_SIZE,101644,0
$CFSIZE,260165632,224837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,134107,2100.061,-15758.639,15,0.8,16,9.8