version: 66.06
glider: 523
mission: 4
dive: 684
start: 7 10 113 5 16 58
data:
$ID,523
$MISSION,4
$DIVE,684
$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,-49761.121
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,050937,2057.845,-15751.587,29,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.4
$GPS2,051641,2057.819,-15751.657,12,1.0,12,9.8
$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,307.5,26504,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.35,0.000,6,0.000,0.000,35,1954,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.7,13,118,9.50,2.25,0.00,0.000,4,0.218,0.050,2380,3378,3397,0,0,0,0,0,0
$GC,257,-0.74,-146.0,32.3,-15.6,41,262,0.00,2.30,0.00,0.000,6,0.000,0.045,2380,1947,3399,0,0,0,0,0,0
$GC,588,-0.74,-146.0,68.5,-10.5,102,595,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,545,3400,0,0,0,0,0,0
$GC,841,-0.74,-146.0,98.4,-10.8,134,846,0.12,2.20,0.00,0.000,6,0.162,0.040,2403,1970,3401,0,0,0,0,0,0
$GC,1169,-0.74,-146.0,122.2,-6.4,164,1173,0.00,2.35,0.00,0.000,4,0.000,0.059,2404,539,3401,0,0,0,0,0,0
$GC,1408,-0.74,-146.0,139.1,-7.5,185,1415,0.00,2.22,0.00,0.000,6,0.000,0.041,2396,1951,3402,0,0,0,0,0,0
$GC,1735,-0.74,-146.0,161.3,-7.8,216,1739,0.00,2.28,0.00,0.000,4,0.000,0.058,2395,542,3402,0,0,0,0,0,0
$GC,1768,-0.74,-146.0,164.3,-8.4,218,1775,0.00,2.25,0.00,0.000,6,0.000,0.043,2386,1962,3402,0,0,0,0,0,0
$GC,2095,-0.74,-146.0,187.0,-7.3,249,2099,0.00,2.33,0.00,0.000,4,0.000,0.058,2386,541,3402,0,0,0,0,0,0
$GC,2323,-0.74,-146.0,206.3,-7.8,266,2329,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1967,3402,0,0,0,0,0,0
$GC,2642,-0.74,-146.0,227.5,-6.0,282,2646,0.00,2.33,0.00,0.000,4,0.000,0.057,2376,535,3402,0,0,0,0,0,0
$GC,2720,-0.74,-146.0,233.2,-7.2,285,2725,0.12,2.20,0.00,0.000,6,0.152,0.041,2400,1960,3402,0,0,0,0,0,0
$GC,3039,-0.74,-146.0,254.7,-7.0,300,3043,0.00,2.30,0.00,0.000,4,0.000,0.055,2401,545,3403,0,0,0,0,0,0
$GC,3195,-0.74,-146.0,266.6,-7.3,307,3199,0.00,2.17,0.00,0.000,6,0.000,0.041,2392,1958,3402,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,286.0,-5.8,323,3530,0.00,2.33,0.00,0.000,4,0.000,0.056,2392,535,3402,0,0,0,0,0,0
$GC,3679,-0.74,-146.0,296.9,-7.0,330,3683,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1959,3401,0,0,0,0,0,0
$GC,4023,-0.74,-146.0,315.9,-5.4,340,4027,0.00,2.30,0.00,0.000,4,0.000,0.056,2382,537,3399,0,0,0,0,0,0
$GC,4280,-0.74,-146.0,332.9,-7.9,345,4286,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1967,3399,0,0,0,0,0,0
$GC,4614,-0.74,-146.0,355.5,-6.7,354,4618,0.00,2.35,0.00,0.000,4,0.000,0.058,2373,537,3397,0,0,0,0,0,0
$GC,4873,-0.74,-146.0,375.6,-7.9,359,4879,0.15,2.22,0.00,0.000,6,0.146,0.041,2405,1960,3395,0,0,0,0,0,0
$GC,5206,-0.74,-146.0,395.7,-5.7,368,5210,0.00,2.33,0.00,0.000,4,0.000,0.058,2406,538,3394,0,0,0,0,0,0
$GC,5306,-0.74,-146.0,401.1,-5.6,370,5310,0.00,2.22,0.00,0.000,6,0.000,0.041,2397,1964,3393,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5415,-0.17,0.0,406.1,5.0,373,5541,0.57,0.00,122.68,0.716,6,0.110,0.000,2584,1964,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5544,0.74,146.0,406.0,0.0,376,5681,0.85,2.38,127.25,0.694,4,0.094,0.058,2876,3386,2204,0,0,0,0,0,0
$GC,5750,0.74,146.0,386.6,10.8,381,5754,0.00,2.28,0.00,0.000,6,0.000,0.044,2885,1976,2201,0,0,0,0,0,0
$GC,6062,0.74,151.9,357.4,8.8,389,6073,0.00,2.30,5.82,0.530,4,0.000,0.054,2885,3397,2178,0,0,0,0,0,0
$GC,6175,0.74,151.9,345.9,11.4,391,6179,0.00,2.28,0.00,0.000,6,0.000,0.046,2894,1979,2176,0,0,0,0,0,0
$GC,6511,0.74,151.9,309.0,11.8,400,6515,0.00,2.30,0.00,0.000,4,0.000,0.058,2894,3386,2175,0,0,0,0,0,0
$GC,6566,0.74,151.9,301.7,13.5,401,6570,0.00,2.25,0.00,0.000,6,0.000,0.048,2904,1980,2174,0,0,0,0,0,0
$GC,6899,0.74,151.9,267.6,9.2,417,6903,0.00,2.30,0.00,0.000,4,0.000,0.060,2903,3398,2174,0,0,0,0,0,0
$GC,7028,0.74,151.9,254.2,10.5,423,7033,0.12,2.22,0.00,0.000,6,0.143,0.041,2877,1978,2173,0,0,0,0,0,0
$GC,7358,0.75,156.3,225.5,8.9,439,7367,0.00,2.30,4.12,0.425,4,0.000,0.060,2877,3378,2162,0,0,0,0,0,0
$GC,7447,0.75,156.3,216.3,10.7,443,7451,0.00,2.25,0.00,0.000,6,0.000,0.051,2884,1973,2162,0,0,0,0,0,0
$GC,7772,0.75,156.3,185.6,9.5,465,7776,0.00,2.28,0.00,0.000,4,0.000,0.059,2884,3391,2161,0,0,0,0,0,0
$GC,7802,0.75,158.8,182.6,8.9,467,7815,0.00,2.25,4.03,0.407,6,0.000,0.052,2893,1980,2151,0,0,0,0,0,0
$GC,8136,0.79,189.5,153.5,7.8,498,8173,0.00,2.33,28.02,0.561,4,0.000,0.060,2893,3385,2026,0,0,0,0,0,0
$GC,8297,0.79,189.5,139.0,9.1,512,8301,0.00,2.25,0.00,0.000,6,0.000,0.051,2893,1975,2024,0,0,0,0,0,0
$GC,8625,0.80,195.1,110.6,8.8,542,8638,0.00,2.33,5.82,0.429,4,0.000,0.061,2893,3384,2004,0,0,0,0,0,0
$GC,8717,0.80,195.1,102.1,9.7,550,8721,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1980,2003,0,0,0,0,0,0
$GC,9045,0.84,232.4,77.2,7.5,583,9085,0.00,2.30,33.92,0.499,4,0.000,0.058,2894,3392,1850,0,0,0,0,0,0
$GC,9150,0.90,281.9,70.5,7.0,601,9202,0.00,2.28,43.80,0.489,6,0.000,0.051,2901,1976,1648,0,0,0,0,0,0
$GC,9530,0.90,281.9,42.7,10.4,670,9537,0.00,2.33,0.00,0.000,4,0.000,0.057,2901,3385,1647,0,0,0,0,0,0
$GC,9610,0.94,307.3,34.9,8.0,684,9641,0.08,2.28,22.25,0.447,6,0.043,0.047,2985,1976,1549,0,0,0,0,0,0
$STATE,9952,end climb,SURFACE_DEPTH_REACHED
$STATE,9952,begin surface coast
$FINISH,0.7,1.010431
$STATE,9989,end surface coast,CONTROL_FINISHED_OK
$STATE,9990,begin surface
$SM_CCo,10067,0.00,0.000,0,0,1545,307.85
$SM_GC,1.48,7.45,0.00,0.00,0.020,0.000,0.000,33,1973,1545,-8.01,0.51,307.85
$IRIDIUM_FIX,2052.52,-15746.61,041002,020201
$TT8_MAMPS,0.028379
$HUMID,68.15
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,24.4,58.828
$10V_AH,10.0,65.011
$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,18.975,95.600,397.725,0.000,0.000,24.839,33.334,218.648,17.250,0.000,15.212,1361.922,5510.510,422.105,2606.444,580.992,0.000,1339.015,0.000,2567.550,0.000,103.322,0.000
$DEVICE_MAMPS,217.828,61.360,716.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,511.873,448.515,1542.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,41288,755
$CAP_FILE_SIZE,114608,0
$CFSIZE,260165632,221253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100713,080536,2058.197,-15752.901,15,0.9,15,9.8