version: 66.06
glider: 523
mission: 4
dive: 627
start: 7 3 113 7 30 11
data:
$ID,523
$MISSION,4
$DIVE,627
$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,-48649.277
$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
$GPS1,072012,2106.618,-15802.444,14,1.4,14,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.8
$GPS2,072954,2106.580,-15802.442,17,1.1,17,9.8
$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,1.6,3314,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-83.47,0.000,6,0.000,0.000,23,1972,3396,0,0,0,0,0,0
$GC,109,-0.74,-146.0,3.8,-5.7,14,124,9.52,2.25,0.00,0.000,4,0.216,0.054,2383,3367,3398,0,0,0,0,0,0
$GC,160,-0.74,-146.0,16.5,-18.9,22,167,0.00,2.30,0.00,0.000,6,0.000,0.048,2383,1957,3398,0,0,0,0,0,0
$GC,331,-0.74,-146.0,40.8,-13.7,53,336,0.00,2.35,0.00,0.000,4,0.000,0.064,2383,534,3399,0,0,0,0,0,0
$GC,445,-0.74,-146.0,58.5,-14.7,74,453,0.00,2.22,0.00,0.000,6,0.000,0.038,2374,1950,3399,0,0,0,0,0,0
$GC,786,-0.74,-146.0,95.6,-9.9,122,790,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,545,3400,0,0,0,0,0,0
$GC,915,-0.74,-146.0,110.4,-12.7,133,920,0.12,2.17,0.00,0.000,6,0.163,0.038,2397,1960,3400,0,0,0,0,0,0
$GC,1243,-0.74,-146.0,141.4,-9.1,163,1247,0.00,2.30,0.00,0.000,4,0.000,0.060,2397,544,3401,0,0,0,0,0,0
$GC,1490,-0.74,-146.0,165.7,-9.2,185,1494,0.00,2.17,0.00,0.000,6,0.000,0.038,2389,1962,3402,0,0,0,0,0,0
$GC,1822,-0.74,-146.0,192.3,-7.8,216,1826,0.00,2.30,0.00,0.000,4,0.000,0.059,2389,545,3402,0,0,0,0,0,0
$GC,1923,-0.74,-146.0,200.6,-7.7,224,1929,0.00,2.20,0.00,0.000,6,0.000,0.038,2379,1967,3402,0,0,0,0,0,0
$GC,2242,-0.74,-146.0,225.4,-7.2,240,2246,0.00,2.33,0.00,0.000,4,0.000,0.059,2379,534,3402,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,243.1,-7.1,250,2483,0.12,2.20,0.00,0.000,6,0.155,0.039,2404,1968,3401,0,0,0,0,0,0
$GC,2798,-0.74,-146.0,260.8,-6.7,266,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1968,3402,0,0,0,0,0,0
$GC,3103,-0.74,-146.0,281.8,-7.0,281,3107,0.00,2.33,0.00,0.000,4,0.000,0.058,2404,542,3401,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,289.0,-7.5,285,3202,0.00,2.20,0.00,0.000,6,0.000,0.039,2396,1967,3402,0,0,0,0,0,0
$GC,3512,-0.74,-146.0,308.1,-5.9,297,3517,0.00,2.35,0.00,0.000,4,0.000,0.059,2396,533,3400,0,0,0,0,0,0
$GC,3586,-0.74,-146.0,312.8,-6.1,298,3590,0.00,2.20,0.00,0.000,6,0.000,0.040,2386,1958,3400,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,331.0,-5.4,306,3922,0.00,2.33,0.00,0.000,4,0.000,0.059,2386,538,3398,0,0,0,0,0,0
$GC,4093,-0.74,-146.0,341.2,-6.1,310,4097,0.00,2.20,0.00,0.000,6,0.000,0.040,2377,1964,3397,0,0,0,0,0,0
$GC,4418,-0.74,-146.0,362.0,-6.5,318,4422,0.00,2.30,0.00,0.000,4,0.000,0.060,2377,545,3395,0,0,0,0,0,0
$GC,4602,-0.74,-146.0,373.3,-4.7,322,4607,0.12,2.20,0.00,0.000,6,0.152,0.041,2400,1968,3394,0,0,0,0,0,0
$GC,4922,-0.74,-146.0,383.0,-3.5,330,4926,0.00,2.35,0.00,0.000,4,0.000,0.060,2401,537,3393,0,0,0,0,0,0
$GC,5067,-0.74,-146.0,393.3,-8.5,333,5071,0.00,2.22,0.00,0.000,6,0.000,0.041,2393,1960,3391,0,0,0,0,0,0
$GC,5381,-0.74,-146.0,417.6,-7.2,341,5385,0.00,2.33,0.00,0.000,4,0.000,0.059,2393,545,3390,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5415,-0.17,0.0,419.8,7.3,341,5541,0.60,0.00,122.03,0.731,6,0.114,0.000,2580,1984,2799,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5544,0.74,146.0,421.4,0.0,344,5683,0.82,2.40,126.90,0.707,4,0.073,0.061,2869,3386,2202,0,0,0,0,0,0
$GC,5773,0.74,146.0,396.4,12.0,349,5777,0.00,2.30,0.00,0.000,6,0.000,0.045,2879,1979,2199,0,0,0,0,0,0
$GC,6121,0.74,146.0,357.4,10.7,358,6125,0.00,2.28,0.00,0.000,4,0.000,0.057,2879,3396,2195,0,0,0,0,0,0
$GC,6182,0.74,146.0,349.6,12.3,359,6187,0.00,2.28,0.00,0.000,6,0.000,0.047,2889,1977,2195,0,0,0,0,0,0
$GC,6525,0.74,146.0,307.8,12.5,368,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1977,2194,0,0,0,0,0,0
$GC,6834,0.74,146.0,270.5,11.0,381,6837,0.00,2.28,0.00,0.000,4,0.000,0.059,2889,3388,2193,0,0,0,0,0,0
$GC,6924,0.74,146.0,260.0,11.3,385,6928,0.00,2.25,0.00,0.000,6,0.000,0.048,2898,1974,2192,0,0,0,0,0,0
$GC,7250,0.74,146.0,225.5,11.3,401,7254,0.00,2.30,0.00,0.000,4,0.000,0.060,2897,3390,2191,0,0,0,0,0,0
$GC,7328,0.74,146.0,215.9,12.6,404,7334,0.00,2.28,0.00,0.000,6,0.000,0.050,2906,1980,2191,0,0,0,0,0,0
$GC,7651,0.74,146.0,179.9,10.4,428,7655,0.00,2.28,0.00,0.000,4,0.000,0.061,2906,3389,2190,0,0,0,0,0,0
$GC,7724,0.74,146.0,171.8,11.7,434,7729,0.12,2.25,0.00,0.000,6,0.146,0.051,2876,1979,2189,0,0,0,0,0,0
$GC,8051,0.80,193.4,147.3,7.1,464,8098,0.00,2.35,39.45,0.568,4,0.000,0.061,2876,3389,2009,0,0,0,0,0,0
$GC,8159,0.85,234.6,140.2,7.3,473,8206,0.00,2.30,36.80,0.550,6,0.000,0.051,2883,1971,1842,0,0,0,0,0,0
$GC,8527,0.90,280.4,110.3,7.1,507,8574,0.12,2.35,40.35,0.526,4,0.071,0.060,2971,3389,1656,0,0,0,0,0,0
$GC,8622,0.90,280.4,99.6,12.4,515,8627,0.17,2.30,0.00,0.000,6,0.130,0.048,2931,1980,1655,0,0,0,0,0,0
$GC,8951,0.92,297.4,70.1,8.3,556,8975,0.00,2.35,15.82,0.469,4,0.000,0.061,2931,3378,1585,0,0,0,0,0,0
$GC,9052,0.93,299.0,61.0,9.0,574,9059,0.00,2.30,0.00,0.000,6,0.000,0.051,2934,1987,1584,0,0,0,0,0,0
$GC,9387,0.93,299.0,31.7,9.2,635,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1987,1584,0,0,0,0,0,0
$STATE,9708,end climb,SURFACE_DEPTH_REACHED
$STATE,9708,begin surface coast
$FINISH,0.6,1.011073
$STATE,9739,end surface coast,CONTROL_FINISHED_OK
$STATE,9739,begin surface
$SM_CCo,9758,1.73,0.077,0,0,1575,300.24
$SM_GC,1.90,0.00,0.00,1.73,0.000,0.000,0.077,27,1935,1575,-8.17,-0.62,300.24
$IRIDIUM_FIX,2059.45,-15808.48,270902,070722
$TT8_MAMPS,0.028379
$HUMID,66.26
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,53.714
$10V_AH,10.2,58.966
$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,19.150,91.300,381.350,1.725,0.000,63.804,72.608,234.441,17.250,0.000,17.888,1277.354,5597.241,404.341,2404.197,654.760,0.000,1266.838,0.000,2354.271,0.000,106.414,0.000
$DEVICE_MAMPS,216.294,128.856,730.951,76.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,475.756,406.473,1405.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38111,701
$CAP_FILE_SIZE,111582,0
$CFSIZE,260165632,224452608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,101404,2107.903,-15802.740,34,0.8,34,9.8