version: 66.06
glider: 523
mission: 4
dive: 623
start: 7 2 113 19 47 46
data:
$ID,523
$MISSION,4
$DIVE,623
$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,-48578.301
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,193748,2101.957,-15800.229,16,1.3,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.6
$GPS2,194729,2102.000,-15800.310,17,0.9,17,9.8
$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,335.7,12115,-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,12,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.35,0.000,6,0.000,0.000,24,1966,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.1,13,118,9.52,2.22,0.00,0.000,4,0.217,0.051,2381,3360,3396,0,0,0,0,0,0
$GC,188,-0.74,-146.0,22.9,-14.7,28,195,0.00,2.28,0.00,0.000,6,0.000,0.046,2381,1954,3397,0,0,0,0,0,0
$GC,360,-0.74,-146.0,48.9,-14.4,59,365,0.00,2.30,0.00,0.000,4,0.000,0.064,2381,548,3397,0,0,0,0,0,0
$GC,615,-0.74,-146.0,84.0,-11.4,102,620,0.12,2.15,0.00,0.000,6,0.163,0.038,2404,1951,3398,0,0,0,0,0,0
$GC,943,-0.74,-146.0,113.4,-8.8,132,947,0.00,2.30,0.00,0.000,4,0.000,0.060,2404,542,3399,0,0,0,0,0,0
$GC,1195,-0.74,-146.0,138.4,-10.4,154,1202,0.00,2.20,0.00,0.000,6,0.000,0.038,2396,1952,3400,0,0,0,0,0,0
$GC,1522,-0.74,-146.0,163.2,-6.9,185,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1952,3400,0,0,0,0,0,0
$GC,1840,-0.74,-146.0,192.3,-9.5,215,1844,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,545,3401,0,0,0,0,0,0
$GC,2063,-0.74,-146.0,213.2,-8.6,228,2067,0.00,2.15,0.00,0.000,6,0.000,0.037,2387,1957,3401,0,0,0,0,0,0
$GC,2387,-0.74,-146.0,237.7,-7.0,244,2391,0.00,2.33,0.00,0.000,4,0.000,0.059,2386,538,3401,0,0,0,0,0,0
$GC,2503,-0.74,-146.0,245.3,-6.3,249,2507,0.00,2.20,0.00,0.000,6,0.000,0.038,2377,1958,3401,0,0,0,0,0,0
$GC,2827,-0.74,-146.0,267.7,-7.1,265,2831,0.00,2.33,0.00,0.000,4,0.000,0.058,2377,537,3400,0,0,0,0,0,0
$GC,3035,-0.74,-146.0,283.2,-6.1,274,3039,0.12,2.17,0.00,0.000,6,0.153,0.038,2400,1958,3401,0,0,0,0,0,0
$GC,3359,-0.74,-146.0,300.4,-5.8,290,3363,0.00,2.30,0.00,0.000,4,0.000,0.058,2401,540,3400,0,0,0,0,0,0
$GC,3589,-0.74,-146.0,315.4,-6.0,295,3593,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,1961,3399,0,0,0,0,0,0
$GC,3910,-0.74,-146.0,334.3,-6.7,303,3914,0.00,2.33,0.00,0.000,4,0.000,0.059,2393,540,3397,0,0,0,0,0,0
$GC,4163,-0.74,-146.0,355.1,-7.4,308,4167,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1964,3396,0,0,0,0,0,0
$GC,4495,-0.74,-146.0,374.5,-5.4,316,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1964,3395,0,0,0,0,0,0
$GC,4820,-0.74,-146.0,390.0,-4.7,324,4825,0.00,2.35,0.00,0.000,4,0.000,0.061,2384,545,3392,0,0,0,0,0,0
$GC,4887,-0.74,-146.0,393.4,-5.7,325,4891,0.00,2.22,0.00,0.000,6,0.000,0.042,2374,1965,3391,0,0,0,0,0,0
$GC,5235,-0.74,-146.0,413.3,-6.3,334,5239,0.00,2.35,0.00,0.000,4,0.000,0.062,2374,546,3390,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5418,-0.17,0.0,425.8,7.1,338,5542,0.68,0.00,121.68,0.735,6,0.116,0.000,2579,1982,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5547,0.74,146.0,426.9,0.0,341,5684,0.82,2.33,127.03,0.712,4,0.073,0.054,2871,3387,2203,0,0,0,0,0,0
$GC,5747,0.74,146.0,406.6,12.6,345,5751,0.00,2.33,0.00,0.000,6,0.000,0.049,2880,1975,2199,0,0,0,0,0,0
$GC,6083,0.74,146.0,364.9,12.9,354,6087,0.00,2.30,0.00,0.000,4,0.000,0.060,2880,3392,2196,0,0,0,0,0,0
$GC,6223,0.74,146.0,346.0,13.1,357,6227,0.00,2.30,0.00,0.000,6,0.000,0.051,2890,1972,2195,0,0,0,0,0,0
$GC,6543,0.74,146.0,311.9,10.4,365,6547,0.00,2.33,0.00,0.000,4,0.000,0.059,2890,3397,2193,0,0,0,0,0,0
$GC,6582,0.74,146.0,307.4,11.7,366,6587,0.00,2.28,0.00,0.000,6,0.000,0.051,2899,1979,2194,0,0,0,0,0,0
$GC,6911,0.74,146.0,271.4,10.3,380,6915,0.00,2.25,0.00,0.000,4,0.000,0.060,2910,567,2193,0,0,0,0,0,0
$GC,6932,0.74,146.0,269.2,9.8,381,6937,0.12,2.20,0.00,0.000,6,0.136,0.044,2876,1984,2192,0,0,0,0,0,0
$GC,7253,0.74,146.0,241.3,9.8,397,7257,0.00,2.22,0.00,0.000,4,0.000,0.053,2876,3397,2191,0,0,0,0,0,0
$GC,7377,0.74,146.0,227.3,11.4,402,7382,0.00,2.28,0.00,0.000,6,0.000,0.051,2882,1979,2191,0,0,0,0,0,0
$GC,7693,0.76,166.5,200.4,8.2,418,7716,0.00,2.35,16.85,0.587,4,0.000,0.060,2882,3393,2119,0,0,0,0,0,0
$GC,7814,0.76,166.5,188.5,10.5,428,7818,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1981,2117,0,0,0,0,0,0
$GC,8146,0.80,201.2,156.5,7.6,459,8182,0.00,2.30,30.65,0.568,4,0.000,0.059,2891,3385,1978,0,0,0,0,0,0
$GC,8318,0.80,201.2,140.3,10.1,474,8322,0.00,2.28,0.00,0.000,6,0.000,0.052,2893,1972,1976,0,0,0,0,0,0
$GC,8645,0.85,238.7,111.3,7.5,504,8684,0.00,2.35,33.03,0.522,4,0.000,0.062,2893,3380,1826,0,0,0,0,0,0
$GC,8781,0.85,238.7,99.9,9.1,516,8785,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1979,1825,0,0,0,0,0,0
$GC,9111,0.93,302.3,71.1,6.4,557,9174,0.12,2.33,55.58,0.491,4,0.077,0.060,2989,3383,1565,0,0,0,0,0,0
$GC,9196,0.93,302.3,61.7,12.6,571,9202,0.20,2.28,0.00,0.000,6,0.127,0.051,2941,1982,1564,0,0,0,0,0,0
$GC,9526,0.93,302.3,31.3,9.5,632,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1982,1563,0,0,0,0,0,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9843,begin surface coast
$FINISH,0.6,1.022623
$STATE,9877,end surface coast,CONTROL_FINISHED_OK
$STATE,9877,begin surface
$SM_CCo,9955,0.00,0.000,0,0,1561,303.92
$SM_GC,1.36,7.43,0.00,0.00,0.028,0.000,0.000,24,1978,1561,-8.01,0.59,303.92
$IRIDIUM_FIX,2052.52,-15757.78,260902,191950
$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.4,53.353
$10V_AH,10.2,58.552
$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,19.150,86.350,384.800,0.000,0.000,59.283,76.210,234.017,17.750,0.000,18.128,1281.108,5736.924,396.334,2454.471,659.488,0.000,1272.667,0.000,2404.367,0.000,113.468,0.000
$DEVICE_MAMPS,217.061,64.428,734.786,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.784,410.383,1384.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38186,698
$CAP_FILE_SIZE,111082,0
$CFSIZE,260165632,224665600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,223458,2103.057,-15801.221,40,1.1,40,9.8