version: 66.06
glider: 523
mission: 4
dive: 624
start: 7 2 113 22 41 5
data:
$ID,523
$MISSION,4
$DIVE,624
$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,-48596.641
$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,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
$GPS1,223458,2103.057,-15801.221,40,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.7
$GPS2,224048,2103.061,-15801.245,17,1.3,17,9.8
$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,342.0,9868,-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,-78.53,0.000,6,0.000,0.000,23,1976,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.2,13,118,9.48,2.22,0.00,0.000,4,0.216,0.051,2383,3364,3395,0,0,0,0,0,0
$GC,204,-0.74,-146.0,24.6,-15.2,31,212,0.00,2.30,0.00,0.000,6,0.000,0.047,2383,1948,3396,0,0,0,0,0,0
$GC,374,-0.74,-146.0,49.3,-13.6,62,382,0.00,2.33,0.00,0.000,4,0.000,0.065,2383,542,3397,0,0,0,0,0,0
$GC,629,-0.74,-146.0,83.0,-12.7,106,633,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1953,3397,0,0,0,0,0,0
$GC,957,-0.74,-146.0,120.7,-12.4,136,961,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,541,3398,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,146.4,-9.8,155,1179,0.15,2.20,0.00,0.000,6,0.151,0.038,2404,1960,3399,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,170.6,-7.1,186,1512,0.00,2.33,0.00,0.000,4,0.000,0.059,2405,535,3400,0,0,0,0,0,0
$GC,1588,-0.74,-146.0,177.1,-8.1,193,1592,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1957,3400,0,0,0,0,0,0
$GC,1916,-0.74,-146.0,197.9,-6.7,223,1921,0.00,2.35,0.00,0.000,4,0.000,0.059,2397,535,3400,0,0,0,0,0,0
$GC,2048,-0.74,-146.0,208.3,-8.3,230,2052,0.00,2.20,0.00,0.000,6,0.000,0.039,2387,1956,3400,0,0,0,0,0,0
$GC,2379,-0.74,-146.0,235.9,-8.2,246,2383,0.00,2.30,0.00,0.000,4,0.000,0.058,2387,540,3400,0,0,0,0,0,0
$GC,2464,-0.74,-146.0,243.4,-7.9,250,2467,0.00,2.17,0.00,0.000,6,0.000,0.039,2377,1957,3400,0,0,0,0,0,0
$GC,2794,-0.74,-146.0,265.6,-5.7,266,2798,0.00,2.33,0.00,0.000,4,0.000,0.058,2377,544,3400,0,0,0,0,0,0
$GC,3051,-0.74,-146.0,283.4,-7.5,277,3057,0.12,2.20,0.00,0.000,6,0.152,0.040,2401,1962,3400,0,0,0,0,0,0
$GC,3370,-0.74,-146.0,302.7,-6.1,292,3374,0.00,2.30,0.00,0.000,4,0.000,0.058,2401,545,3400,0,0,0,0,0,0
$GC,3544,-0.74,-146.0,314.7,-6.6,296,3549,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,1960,3399,0,0,0,0,0,0
$GC,3877,-0.74,-146.0,335.8,-6.7,304,3881,0.00,2.30,0.00,0.000,4,0.000,0.058,2393,534,3397,0,0,0,0,0,0
$GC,4073,-0.74,-146.0,349.8,-7.3,308,4077,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1959,3396,0,0,0,0,0,0
$GC,4422,-0.74,-146.0,371.7,-6.0,317,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1959,3395,0,0,0,0,0,0
$GC,4746,-0.74,-146.0,390.0,-5.4,325,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1959,3393,0,0,0,0,0,0
$GC,5071,-0.74,-146.0,408.6,-6.1,333,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1959,3391,0,0,0,0,0,0
$GC,5399,-0.74,-146.0,431.2,-7.0,341,5403,0.00,2.38,0.00,0.000,4,0.000,0.060,2384,536,3389,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,432.1,6.9,341,5541,0.62,0.00,121.78,0.741,6,0.114,0.000,2578,1989,2800,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,434.0,0.0,344,5683,0.85,2.35,127.47,0.716,4,0.073,0.061,2873,3388,2203,0,0,0,0,0,0
$GC,5790,0.74,146.0,407.7,12.8,349,5795,0.00,2.30,0.00,0.000,6,0.000,0.045,2882,1970,2198,0,0,0,0,0,0
$GC,6122,0.74,146.0,368.3,11.8,357,6126,0.00,2.33,0.00,0.000,4,0.000,0.058,2882,3394,2196,0,0,0,0,0,0
$GC,6263,0.74,146.0,349.9,13.6,360,6267,0.00,2.25,0.00,0.000,6,0.000,0.045,2892,1978,2195,0,0,0,0,0,0
$GC,6576,0.74,146.0,312.5,11.9,368,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1978,2194,0,0,0,0,0,0
$GC,6883,0.74,146.0,277.8,11.1,380,6887,0.00,2.33,0.00,0.000,4,0.000,0.060,2892,3395,2193,0,0,0,0,0,0
$GC,7023,0.74,146.0,261.6,11.3,386,7027,0.00,2.28,0.00,0.000,6,0.000,0.048,2902,1973,2192,0,0,0,0,0,0
$GC,7344,0.74,146.0,227.9,10.2,402,7348,0.00,2.33,0.00,0.000,4,0.000,0.060,2902,3394,2191,0,0,0,0,0,0
$GC,7394,0.74,146.0,222.6,10.2,404,7399,0.12,2.28,0.00,0.000,6,0.145,0.051,2876,1969,2190,0,0,0,0,0,0
$GC,7716,0.75,160.4,196.3,8.4,421,7732,0.00,2.30,11.38,0.558,4,0.000,0.061,2876,3394,2146,0,0,0,0,0,0
$GC,7826,0.79,190.1,186.7,7.8,430,7859,0.00,2.25,27.08,0.585,6,0.000,0.042,2884,1979,2024,0,0,0,0,0,0
$GC,8187,0.79,190.1,156.4,9.1,464,8191,0.00,2.25,0.00,0.000,4,0.000,0.052,2885,3396,2021,0,0,0,0,0,0
$GC,8338,0.79,190.1,142.2,9.7,477,8342,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1979,2020,0,0,0,0,0,0
$GC,8671,0.80,196.5,112.5,8.8,508,8684,0.00,2.28,6.15,0.439,4,0.000,0.050,2893,3395,1998,0,0,0,0,0,0
$GC,8742,0.80,196.5,106.3,9.0,514,8746,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1978,1998,0,0,0,0,0,0
$GC,9069,0.83,220.9,83.0,8.0,544,9096,0.00,2.22,22.40,0.495,4,0.000,0.053,2906,571,1899,0,0,0,0,0,0
$GC,9122,0.87,256.6,78.9,7.6,549,9162,0.00,2.20,32.20,0.493,6,0.000,0.034,2906,1999,1754,0,0,0,0,0,0
$GC,9488,0.95,317.3,51.2,6.5,616,9546,0.10,2.28,52.60,0.473,4,0.085,0.052,2986,3383,1505,0,0,0,0,0,0
$GC,9720,0.95,317.3,22.8,13.6,658,9729,0.12,2.33,0.00,0.000,6,0.110,0.053,2951,1991,1503,0,0,0,0,0,0
$GC,9892,0.95,317.3,5.8,10.0,689,9899,0.00,2.33,0.00,0.000,4,0.000,0.059,2951,3379,1503,0,0,0,0,0,0
$STATE,9915,end climb,SURFACE_DEPTH_REACHED
$STATE,9915,begin surface coast
$FINISH,2.0,1.022994
$STATE,9923,end surface coast,CONTROL_FINISHED_OK
$STATE,9923,begin surface
$SM_CCo,10005,0.00,0.000,0,0,1501,318.64
$SM_GC,1.43,7.38,0.00,0.00,0.019,0.000,0.000,31,1943,1501,-7.98,-0.42,318.64
$IRIDIUM_FIX,2047.91,-15810.20,260902,191940
$TT8_MAMPS,0.027612
$HUMID,65.94
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,53.441
$10V_AH,10.2,58.654
$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,18.950,90.950,401.050,0.000,0.000,26.734,32.523,150.054,18.000,0.000,17.708,1258.941,5839.344,398.606,2360.693,489.642,0.000,1261.136,0.000,2312.067,0.000,113.551,0.000
$DEVICE_MAMPS,215.527,65.195,740.922,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.398,406.901,1374.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38115,694
$CAP_FILE_SIZE,108003,0
$CFSIZE,260165632,224616448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,012842,2104.158,-15801.943,16,0.8,16,9.8