version: 66.06
glider: 523
mission: 4
dive: 622
start: 7 2 113 16 48 59
data:
$ID,523
$MISSION,4
$DIVE,622
$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,-48559.539
$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,18
$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
$GPS1,164235,2100.941,-15759.408,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.6
$GPS2,164842,2100.968,-15759.438,14,1.7,14,9.8
$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,331.8,14376,-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,-80.47,0.000,6,0.000,0.000,41,1971,3397,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.4,-4.5,13,120,9.52,2.22,0.00,0.000,4,0.219,0.054,2385,3366,3398,0,0,0,0,0,0
$GC,208,-0.74,-146.0,23.4,-13.1,31,215,0.00,2.28,0.00,0.000,6,0.000,0.045,2385,1951,3400,0,0,0,0,0,0
$GC,378,-0.74,-146.0,48.0,-13.1,62,385,0.00,2.30,0.00,0.000,4,0.000,0.063,2385,544,3400,0,0,0,0,0,0
$GC,632,-0.74,-146.0,84.6,-12.8,105,639,0.00,2.20,0.00,0.000,6,0.000,0.038,2376,1963,3400,0,0,0,0,0,0
$GC,967,-0.74,-146.0,119.5,-9.2,136,974,0.00,2.30,0.00,0.000,4,0.000,0.060,2376,544,3401,0,0,0,0,0,0
$GC,1223,-0.74,-146.0,148.0,-10.0,159,1228,0.12,2.20,0.00,0.000,6,0.161,0.038,2398,1967,3402,0,0,0,0,0,0
$GC,1551,-0.74,-146.0,177.1,-8.1,189,1555,0.00,2.30,0.00,0.000,4,0.000,0.060,2399,542,3403,0,0,0,0,0,0
$GC,1733,-0.74,-146.0,192.0,-8.0,205,1737,0.00,2.17,0.00,0.000,6,0.000,0.039,2390,1958,3403,0,0,0,0,0,0
$GC,2054,-0.74,-146.0,216.2,-7.8,225,2058,0.00,2.30,0.00,0.000,4,0.000,0.058,2390,537,3403,0,0,0,0,0,0
$GC,2154,-0.74,-146.0,225.7,-9.5,229,2160,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1958,3403,0,0,0,0,0,0
$GC,2472,-0.74,-146.0,249.5,-6.7,245,2477,0.00,2.30,0.00,0.000,4,0.000,0.058,2380,538,3403,0,0,0,0,0,0
$GC,2552,-0.74,-146.0,255.4,-7.4,248,2556,0.12,2.17,0.00,0.000,6,0.156,0.039,2404,1958,3403,0,0,0,0,0,0
$GC,2870,-0.74,-146.0,278.5,-7.5,263,2874,0.00,2.30,0.00,0.000,4,0.000,0.059,2405,542,3403,0,0,0,0,0,0
$GC,3129,-0.74,-146.0,297.4,-5.6,274,3133,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1956,3403,0,0,0,0,0,0
$GC,3441,-0.74,-146.0,314.3,-5.5,283,3445,0.00,2.30,0.00,0.000,4,0.000,0.059,2397,544,3402,0,0,0,0,0,0
$GC,3543,-0.74,-146.0,321.6,-7.8,285,3547,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1956,3402,0,0,0,0,0,0
$GC,3892,-0.74,-146.0,346.4,-6.9,294,3896,0.00,2.30,0.00,0.000,4,0.000,0.061,2387,542,3400,0,0,0,0,0,0
$GC,4112,-0.74,-146.0,361.5,-6.2,299,4116,0.00,2.22,0.00,0.000,6,0.000,0.042,2378,1965,3398,0,0,0,0,0,0
$GC,4442,-0.74,-146.0,378.2,-4.9,307,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1965,3397,0,0,0,0,0,0
$GC,4766,-0.74,-146.0,399.9,-7.5,315,4773,0.00,2.33,0.00,0.000,4,0.000,0.061,2378,545,3395,0,0,0,0,0,0
$GC,5027,-0.74,-146.0,420.4,-7.4,320,5032,0.12,2.22,0.00,0.000,6,0.153,0.044,2402,1965,3393,0,0,0,0,0,0
$GC,5359,-0.74,-146.0,436.6,-4.2,328,5363,0.00,2.35,0.00,0.000,4,0.000,0.063,2402,538,3392,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5416,-0.17,0.0,439.0,5.0,329,5541,0.55,0.00,121.80,0.744,6,0.108,0.000,2578,1992,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,438.2,0.0,332,5683,0.82,2.35,127.25,0.718,4,0.069,0.054,2873,3382,2202,0,0,0,0,0,0
$GC,5778,0.74,146.0,407.9,14.0,337,5783,0.00,2.33,0.00,0.000,6,0.000,0.050,2882,1972,2199,0,0,0,0,0,0
$GC,6121,0.74,146.0,364.5,11.5,346,6125,0.00,2.33,0.00,0.000,4,0.000,0.058,2882,3382,2196,0,0,0,0,0,0
$GC,6195,0.74,146.0,355.4,12.8,347,6199,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1976,2195,0,0,0,0,0,0
$GC,6527,0.74,146.0,315.3,11.9,355,6530,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3385,2194,0,0,0,0,0,0
$GC,6554,0.74,146.0,311.8,12.0,355,6558,0.00,2.28,0.00,0.000,6,0.000,0.052,2901,1981,2194,0,0,0,0,0,0
$GC,6873,0.74,146.0,275.8,10.5,368,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1981,2193,0,0,0,0,0,0
$GC,7182,0.74,146.0,244.9,10.0,383,7186,0.00,2.28,0.00,0.000,4,0.000,0.061,2901,3381,2192,0,0,0,0,0,0
$GC,7271,0.74,146.0,235.5,11.0,387,7276,0.12,2.25,0.00,0.000,6,0.147,0.051,2875,1981,2190,0,0,0,0,0,0
$GC,7592,0.74,146.0,206.4,9.7,403,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1981,2190,0,0,0,0,0,0
$GC,7912,0.78,182.8,178.9,7.5,429,7947,0.00,2.30,30.35,0.586,4,0.000,0.059,2875,3398,2053,0,0,0,0,0,0
$GC,8071,0.78,182.8,164.6,9.9,443,8079,0.00,2.28,0.00,0.000,6,0.000,0.042,2882,1978,2050,0,0,0,0,0,0
$GC,8398,0.83,220.5,138.5,7.5,474,8437,0.00,2.28,33.33,0.551,4,0.000,0.052,2882,3386,1899,0,0,0,0,0,0
$GC,8559,0.83,220.5,124.1,9.7,488,8563,0.00,2.22,0.00,0.000,6,0.000,0.041,2891,1973,1896,0,0,0,0,0,0
$GC,8888,0.85,239.1,94.5,8.3,518,8907,0.00,0.00,17.12,0.499,6,0.000,0.000,2891,1973,1825,0,0,0,0,0,0
$GC,9227,0.88,260.0,67.3,8.2,565,9252,0.00,2.28,19.55,0.477,4,0.000,0.054,2891,3385,1739,0,0,0,0,0,0
$GC,9312,0.88,260.0,59.6,9.1,580,9320,0.00,2.30,0.00,0.000,6,0.000,0.051,2891,1982,1738,0,0,0,0,0,0
$GC,9649,0.92,292.4,34.1,7.7,641,9684,0.12,0.00,28.92,0.452,6,0.078,0.000,2954,1982,1606,0,0,0,0,0,0
$GC,10005,0.92,292.4,4.4,9.6,707,10013,0.00,2.28,0.00,0.000,4,0.000,0.058,2963,576,1605,0,0,0,0,0,0
$STATE,10020,end climb,SURFACE_DEPTH_REACHED
$STATE,10020,begin surface coast
$FINISH,0.7,1.022997
$STATE,10047,end surface coast,CONTROL_FINISHED_OK
$STATE,10047,begin surface
$SM_CCo,10068,5.35,0.345,0,0,1575,300.24
$SM_GC,1.50,0.00,0.00,5.35,0.000,0.000,0.345,24,1966,1575,-8.18,0.25,300.24
$IRIDIUM_FIX,2047.91,-15757.78,260902,131334
$TT8_MAMPS,0.028379
$HUMID,66.22
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,24.4,53.260
$10V_AH,10.2,58.447
$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,18.950,86.200,378.325,5.350,0.000,28.318,34.415,158.873,18.750,0.000,14.859,1302.418,5775.568,396.199,2454.676,506.164,0.000,1274.715,0.000,2407.830,0.000,112.630,0.000
$DEVICE_MAMPS,219.362,62.894,743.990,345.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,484.732,411.457,1426.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38094,714
$CAP_FILE_SIZE,109282,0
$CFSIZE,260165632,224722944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,193748,2101.957,-15800.229,16,1.3,16,9.8