version: 66.06
glider: 523
mission: 4
dive: 683
start: 7 10 113 2 23 17
data:
$ID,523
$MISSION,4
$DIVE,683
$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,-49745.281
$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,25
$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
$GPS1,021229,2057.713,-15750.121,19,0.8,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.1
$GPS2,022259,2057.689,-15750.287,22,0.8,22,9.8
$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,304.3,28329,-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,-80.10,0.000,6,0.000,0.000,37,1991,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.5,-5.4,13,118,9.43,2.22,0.00,0.000,4,0.214,0.048,2379,3368,3397,0,0,0,0,0,0
$GC,283,-0.74,-146.0,31.1,-11.4,46,291,0.00,2.28,0.00,0.000,6,0.000,0.043,2379,1966,3399,0,0,0,0,0,0
$GC,621,-0.74,-146.0,69.1,-10.1,107,626,0.00,2.25,0.00,0.000,4,0.000,0.055,2370,3366,3400,0,0,0,0,0,0
$GC,711,-0.74,-146.0,78.6,-11.2,123,717,0.12,2.25,0.00,0.000,6,0.149,0.044,2403,1948,3400,0,0,0,0,0,0
$GC,1045,-0.74,-146.0,107.7,-6.2,155,1050,0.00,2.28,0.00,0.000,4,0.000,0.064,2403,546,3401,0,0,0,0,0,0
$GC,1142,-0.74,-146.0,114.0,-7.3,163,1146,0.00,2.17,0.00,0.000,6,0.000,0.040,2395,1958,3401,0,0,0,0,0,0
$GC,1469,-0.74,-146.0,142.5,-8.7,193,1473,0.00,2.30,0.00,0.000,4,0.000,0.058,2395,547,3402,0,0,0,0,0,0
$GC,1609,-0.74,-146.0,153.9,-7.8,205,1613,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1960,3402,0,0,0,0,0,0
$GC,1936,-0.74,-146.0,178.5,-8.5,235,1940,0.00,2.30,0.00,0.000,4,0.000,0.058,2385,546,3402,0,0,0,0,0,0
$GC,2012,-0.74,-146.0,185.4,-8.8,241,2020,0.00,2.22,0.00,0.000,6,0.000,0.042,2376,1961,3402,0,0,0,0,0,0
$GC,2334,-0.74,-146.0,208.7,-6.6,266,2338,0.00,2.30,0.00,0.000,4,0.000,0.058,2376,547,3402,0,0,0,0,0,0
$GC,2592,-0.74,-146.0,228.4,-8.6,277,2598,0.12,2.20,0.00,0.000,6,0.153,0.042,2399,1962,3402,0,0,0,0,0,0
$GC,2910,-0.74,-146.0,249.4,-5.6,293,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1962,3402,0,0,0,0,0,0
$GC,3218,-0.74,-146.0,264.4,-5.3,308,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1961,3402,0,0,0,0,0,0
$GC,3527,-0.74,-146.0,281.5,-5.5,323,3531,0.00,2.33,0.00,0.000,4,0.000,0.057,2400,542,3401,0,0,0,0,0,0
$GC,3605,-0.74,-146.0,286.7,-7.5,326,3611,0.00,2.20,0.00,0.000,6,0.000,0.041,2392,1958,3401,0,0,0,0,0,0
$GC,3940,-0.74,-146.0,310.6,-6.4,339,3944,0.00,2.33,0.00,0.000,4,0.000,0.058,2392,538,3399,0,0,0,0,0,0
$GC,4089,-0.74,-146.0,318.1,-4.9,342,4093,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1969,3398,0,0,0,0,0,0
$GC,4404,-0.74,-146.0,331.4,-4.5,350,4408,0.00,2.35,0.00,0.000,4,0.000,0.058,2382,540,3397,0,0,0,0,0,0
$GC,4579,-0.74,-146.0,340.7,-5.6,354,4583,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1962,3397,0,0,0,0,0,0
$GC,4904,-0.74,-146.0,361.0,-7.5,362,4909,0.10,2.35,0.00,0.000,4,0.160,0.060,2399,544,3395,0,0,0,0,0,0
$GC,5026,-0.74,-146.0,370.8,-8.0,364,5030,0.00,2.20,0.00,0.000,6,0.000,0.041,2391,1962,3394,0,0,0,0,0,0
$GC,5357,-0.74,-146.0,393.7,-6.7,372,5361,0.00,2.30,0.00,0.000,4,0.000,0.059,2391,546,3392,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5415,-0.17,0.0,397.1,6.5,373,5540,0.60,0.00,122.18,0.704,6,0.114,0.000,2578,1981,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,398.4,0.0,376,5682,0.85,2.38,126.70,0.686,4,0.074,0.054,2876,3391,2203,0,0,0,0,0,0
$GC,5705,0.74,146.0,384.6,10.4,379,5710,0.00,2.33,0.00,0.000,6,0.000,0.044,2885,1977,2201,0,0,0,0,0,0
$GC,6036,0.74,146.0,351.4,9.9,388,6040,0.00,2.33,0.00,0.000,4,0.000,0.055,2885,3399,2197,0,0,0,0,0,0
$GC,6215,0.74,146.0,330.6,12.0,392,6219,0.00,2.28,0.00,0.000,6,0.000,0.044,2893,1978,2195,0,0,0,0,0,0
$GC,6533,0.74,146.0,296.9,10.4,400,6537,0.00,2.28,0.00,0.000,4,0.000,0.056,2894,3389,2194,0,0,0,0,0,0
$GC,6688,0.74,146.0,277.6,14.1,407,6693,0.00,2.28,0.00,0.000,6,0.000,0.048,2901,1969,2193,0,0,0,0,0,0
$GC,7015,0.74,146.0,243.0,9.9,423,7019,0.00,2.30,0.00,0.000,4,0.000,0.058,2901,3392,2192,0,0,0,0,0,0
$GC,7146,0.74,146.0,228.9,10.8,429,7151,0.12,2.28,0.00,0.000,6,0.144,0.050,2874,1978,2192,0,0,0,0,0,0
$GC,7474,0.79,189.8,205.6,7.2,445,7516,0.00,2.35,36.58,0.601,4,0.000,0.060,2883,561,2025,0,0,0,0,0,0
$GC,7600,0.81,205.5,196.2,8.4,452,7624,0.00,2.22,15.02,0.560,6,0.000,0.041,2883,1983,1961,0,0,0,0,0,0
$GC,7945,0.81,205.5,167.8,9.0,484,7949,0.00,2.33,0.00,0.000,4,0.000,0.064,2887,564,1958,0,0,0,0,0,0
$GC,8041,0.81,205.5,158.9,9.3,492,8049,0.00,2.28,0.00,0.000,6,0.000,0.042,2888,1984,1959,0,0,0,0,0,0
$GC,8368,0.84,229.0,132.0,8.1,523,8395,0.00,2.28,21.55,0.530,4,0.000,0.054,2888,3392,1865,0,0,0,0,0,0
$GC,8469,0.84,229.0,123.6,9.2,532,8473,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1975,1864,0,0,0,0,0,0
$GC,8797,0.84,229.0,92.6,9.8,562,8801,0.00,2.25,0.00,0.000,4,0.000,0.061,2893,568,1863,0,0,0,0,0,0
$GC,8817,0.84,229.0,90.5,9.8,563,8821,0.00,2.22,0.00,0.000,6,0.000,0.039,2893,1997,1864,0,0,0,0,0,0
$GC,9149,0.88,258.8,66.6,7.8,611,9184,0.00,2.25,26.98,0.481,4,0.000,0.054,2893,3389,1742,0,0,0,0,0,0
$GC,9221,0.88,258.8,60.2,9.4,623,9226,0.00,2.28,0.00,0.000,6,0.000,0.046,2893,1973,1742,0,0,0,0,0,0
$GC,9558,0.90,279.2,32.1,8.2,684,9583,0.10,2.28,19.12,0.440,4,0.090,0.054,2972,3386,1660,0,0,0,0,0,0
$GC,9681,0.90,279.2,19.7,10.7,706,9688,0.12,2.28,0.00,0.000,6,0.100,0.045,2935,1985,1659,0,0,0,0,0,0
$GC,9849,0.90,279.2,3.9,9.4,737,9856,0.00,2.33,0.00,0.000,4,0.000,0.064,2944,571,1659,0,0,0,0,0,0
$STATE,9862,end climb,SURFACE_DEPTH_REACHED
$STATE,9862,begin surface coast
$FINISH,0.7,1.023159
$STATE,9880,end surface coast,CONTROL_FINISHED_OK
$STATE,9880,begin surface
$SM_CCo,9900,11.38,0.395,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,11.38,0.000,0.000,0.395,35,1951,1575,-8.15,-0.17,300.24
$IRIDIUM_FIX,2052.52,-15754.77,041002,020236
$TT8_MAMPS,0.028379
$HUMID,67.99
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,24.4,58.739
$10V_AH,10.1,64.899
$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,19.000,100.025,368.125,11.375,0.000,57.642,69.843,279.391,16.500,0.000,22.492,1337.255,5552.398,411.891,2518.458,716.864,0.000,1295.788,0.000,2471.281,0.000,100.227,0.000
$DEVICE_MAMPS,213.993,64.428,704.106,395.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,503.605,441.187,1501.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,41388,742
$CAP_FILE_SIZE,117281,0
$CFSIZE,260165632,221306880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100713,050937,2057.845,-15751.587,29,1.0,29,9.8