version: 66.06
glider: 523
mission: 4
dive: 625
start: 7 3 113 1 37 51
data:
$ID,523
$MISSION,4
$DIVE,625
$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,-48615.504
$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
$GPS1,012842,2104.158,-15801.943,16,0.8,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.3
$GPS2,013735,2104.148,-15801.955,17,0.9,17,9.8
$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,348.8,7755,-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,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-80.47,0.000,6,0.000,0.000,26,1941,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.4,-4.3,13,118,9.43,2.28,0.00,0.000,4,0.213,0.053,2382,3363,3398,0,0,0,0,0,0
$GC,198,-0.74,-146.0,23.1,-14.0,30,205,0.00,2.28,0.00,0.000,6,0.000,0.047,2382,1958,3399,0,0,0,0,0,0
$GC,371,-0.74,-146.0,46.8,-13.9,61,376,0.00,2.33,0.00,0.000,4,0.000,0.065,2382,545,3399,0,0,0,0,0,0
$GC,602,-0.74,-146.0,80.8,-13.7,103,606,0.00,2.17,0.00,0.000,6,0.000,0.039,2373,1954,3400,0,0,0,0,0,0
$GC,935,-0.74,-146.0,115.3,-10.2,134,940,0.10,2.33,0.00,0.000,4,0.173,0.062,2398,548,3401,0,0,0,0,0,0
$GC,1184,-0.74,-146.0,139.9,-11.6,156,1192,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1950,3402,0,0,0,0,0,0
$GC,1512,-0.74,-146.0,171.5,-9.0,187,1516,0.00,2.28,0.00,0.000,4,0.000,0.060,2390,547,3403,0,0,0,0,0,0
$GC,1761,-0.74,-146.0,195.8,-9.7,209,1768,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1956,3403,0,0,0,0,0,0
$GC,2089,-0.74,-146.0,223.4,-7.6,228,2093,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,547,3403,0,0,0,0,0,0
$GC,2332,-0.74,-146.0,243.6,-7.8,239,2337,0.12,2.17,0.00,0.000,6,0.155,0.038,2404,1965,3403,0,0,0,0,0,0
$GC,2658,-0.74,-146.0,264.1,-6.4,255,2663,0.00,2.33,0.00,0.000,4,0.000,0.058,2405,547,3403,0,0,0,0,0,0
$GC,2916,-0.74,-146.0,281.4,-6.6,266,2921,0.00,2.17,0.00,0.000,6,0.000,0.038,2397,1964,3403,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,299.2,-4.7,282,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1964,3402,0,0,0,0,0,0
$GC,3539,-0.74,-146.0,316.5,-6.2,290,3543,0.00,2.38,0.00,0.000,4,0.000,0.059,2397,538,3401,0,0,0,0,0,0
$GC,3797,-0.74,-146.0,333.9,-6.9,295,3802,0.00,2.22,0.00,0.000,6,0.000,0.040,2388,1967,3400,0,0,0,0,0,0
$GC,4129,-0.74,-146.0,356.0,-6.8,304,4133,0.00,2.22,0.00,0.000,4,0.000,0.062,2377,3363,3398,0,0,0,0,0,0
$GC,4219,-0.74,-146.0,361.7,-6.4,306,4223,0.00,2.22,0.00,0.000,6,0.000,0.047,2377,1951,3398,0,0,0,0,0,0
$GC,4539,-0.74,-146.0,379.8,-5.4,314,4543,0.00,2.30,0.00,0.000,4,0.000,0.063,2377,538,3396,0,0,0,0,0,0
$GC,4606,-0.74,-146.0,383.9,-6.3,315,4611,0.12,2.20,0.00,0.000,6,0.155,0.039,2400,1969,3395,0,0,0,0,0,0
$GC,4950,-0.74,-146.0,403.2,-5.9,324,4954,0.00,2.33,0.00,0.000,4,0.000,0.058,2401,549,3394,0,0,0,0,0,0
$GC,5036,-0.74,-146.0,408.5,-5.6,326,5040,0.00,2.17,0.00,0.000,6,0.000,0.041,2393,1955,3393,0,0,0,0,0,0
$GC,5364,-0.74,-146.0,429.2,-6.8,334,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1954,3391,0,0,0,0,0,0
$STATE,5439,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5439,begin apogee
$GC,5445,-0.17,0.0,434.8,7.0,336,5571,0.60,0.00,122.47,0.743,6,0.111,0.000,2587,1955,2799,0,0,0,0,0,0
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5575,0.74,146.0,436.4,0.0,339,5713,0.82,2.38,127.22,0.719,4,0.073,0.061,2877,3381,2203,0,0,0,0,0,0
$GC,5798,0.74,146.0,412.4,14.1,344,5802,0.00,2.28,0.00,0.000,6,0.000,0.046,2886,1981,2199,0,0,0,0,0,0
$GC,6110,0.74,146.0,371.3,13.4,352,6114,0.00,2.30,0.00,0.000,4,0.000,0.056,2886,3386,2196,0,0,0,0,0,0
$GC,6222,0.74,146.0,356.3,12.4,354,6226,0.00,2.25,0.00,0.000,6,0.000,0.046,2895,1973,2195,0,0,0,0,0,0
$GC,6560,0.74,146.0,318.7,11.4,363,6564,0.00,2.30,0.00,0.000,4,0.000,0.058,2895,3386,2194,0,0,0,0,0,0
$GC,6615,0.74,146.0,311.7,12.2,364,6619,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1981,2193,0,0,0,0,0,0
$GC,6947,0.74,146.0,274.0,10.3,378,6951,0.00,2.28,0.00,0.000,4,0.000,0.060,2905,3393,2193,0,0,0,0,0,0
$GC,7069,0.74,146.0,258.6,13.2,383,7076,0.12,2.28,0.00,0.000,6,0.149,0.048,2878,1973,2192,0,0,0,0,0,0
$GC,7385,0.76,163.7,228.7,8.3,399,7404,0.00,0.00,14.77,0.598,6,0.000,0.000,2879,1973,2131,0,0,0,0,0,0
$GC,7718,0.76,163.7,196.7,10.2,416,7722,0.00,2.30,0.00,0.000,4,0.000,0.060,2878,3386,2128,0,0,0,0,0,0
$GC,7801,0.76,163.7,187.6,10.7,423,7805,0.00,2.25,0.00,0.000,6,0.000,0.048,2886,1973,2127,0,0,0,0,0,0
$GC,8129,0.79,189.5,159.0,8.0,453,8157,0.00,2.30,23.15,0.566,4,0.000,0.059,2885,3384,2026,0,0,0,0,0,0
$GC,8226,0.79,189.5,150.4,9.3,461,8230,0.00,2.28,0.00,0.000,6,0.000,0.051,2893,1979,2024,0,0,0,0,0,0
$GC,8553,0.79,191.9,119.6,8.9,491,8557,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,3389,2023,0,0,0,0,0,0
$GC,8593,0.80,198.4,116.1,8.8,494,8607,0.00,2.28,8.55,0.477,6,0.000,0.051,2893,1978,1990,0,0,0,0,0,0
$GC,8926,0.85,235.9,90.6,7.5,525,8964,0.00,2.30,33.72,0.512,4,0.000,0.059,2893,3385,1837,0,0,0,0,0,0
$GC,9011,0.85,235.9,83.4,10.2,532,9015,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1978,1836,0,0,0,0,0,0
$GC,9339,0.91,282.9,61.1,7.1,588,9387,0.10,2.30,41.42,0.482,4,0.090,0.058,2972,3385,1645,0,0,0,0,0,0
$GC,9445,0.91,282.9,49.4,12.4,606,9453,0.15,2.30,0.00,0.000,6,0.104,0.051,2930,1983,1644,0,0,0,0,0,0
$GC,9778,0.91,285.3,20.2,8.9,667,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1983,1644,0,0,0,0,0,0
$GC,9948,0.91,285.3,4.5,9.2,698,9956,0.00,2.30,0.00,0.000,4,0.000,0.059,2931,3385,1644,0,0,0,0,0,0
$STATE,9968,end climb,SURFACE_DEPTH_REACHED
$STATE,9968,begin surface coast
$FINISH,0.8,1.023046
$STATE,9985,end surface coast,CONTROL_FINISHED_OK
$STATE,9985,begin surface
$SM_CCo,10006,9.25,0.384,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,9.25,0.000,0.000,0.384,28,1954,1575,-8.16,-0.11,300.24
$IRIDIUM_FIX,2057.14,-15756.04,270902,010140
$TT8_MAMPS,0.027612
$HUMID,66.10
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,24.4,53.531
$10V_AH,10.2,58.758
$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,18.925,90.900,371.325,9.250,0.000,55.251,66.290,205.717,18.500,0.000,18.230,1295.389,5816.493,412.231,2410.473,609.529,0.000,1278.372,0.000,2361.263,0.000,113.054,0.000
$DEVICE_MAMPS,213.226,65.195,743.223,384.267,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,478.474,414.724,1380.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38079,704
$CAP_FILE_SIZE,113234,0
$CFSIZE,260165632,224559104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,042604,2105.338,-15802.286,38,0.9,38,9.8