version: 66.06
glider: 523
mission: 4
dive: 685
start: 7 10 113 8 19 12
data:
$ID,523
$MISSION,4
$DIVE,685
$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,-49789.227
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,080536,2058.197,-15752.901,15,0.9,15,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.8
$GPS2,081853,2058.206,-15753.007,27,0.8,27,9.8
$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,310.4,24426,-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,-77.72,0.000,6,0.000,0.000,26,1966,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.2,13,118,9.48,2.22,0.00,0.000,4,0.213,0.047,2380,3375,3398,0,0,0,0,0,0
$GC,218,-0.74,-146.0,27.0,-15.0,34,226,0.00,2.28,0.00,0.000,6,0.000,0.044,2380,1956,3400,0,0,0,0,0,0
$GC,393,-0.74,-146.0,49.4,-10.8,65,398,0.00,2.28,0.00,0.000,4,0.000,0.061,2380,542,3400,0,0,0,0,0,0
$GC,647,-0.74,-146.0,77.6,-12.5,111,653,0.12,2.17,0.00,0.000,6,0.163,0.038,2402,1967,3400,0,0,0,0,0,0
$GC,977,-0.74,-146.0,103.8,-6.4,143,981,0.00,2.25,0.00,0.000,4,0.000,0.062,2394,3370,3401,0,0,0,0,0,0
$GC,1010,-0.74,-146.0,106.2,-6.7,145,1017,0.00,2.25,0.00,0.000,6,0.000,0.045,2393,1957,3401,0,0,0,0,0,0
$GC,1338,-0.74,-146.0,130.7,-8.6,176,1342,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,537,3402,0,0,0,0,0,0
$GC,1588,-0.74,-146.0,152.9,-8.4,198,1595,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1952,3402,0,0,0,0,0,0
$GC,1915,-0.74,-146.0,174.3,-6.7,229,1919,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,545,3402,0,0,0,0,0,0
$GC,2106,-0.74,-146.0,188.4,-7.3,246,2110,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1964,3401,0,0,0,0,0,0
$GC,2428,-0.74,-146.0,210.2,-6.7,269,2432,0.00,2.30,0.00,0.000,4,0.000,0.058,2375,546,3402,0,0,0,0,0,0
$GC,2687,-0.74,-146.0,230.2,-9.1,280,2693,0.12,2.20,0.00,0.000,6,0.154,0.039,2401,1965,3401,0,0,0,0,0,0
$GC,3005,-0.74,-146.0,254.3,-6.4,296,3009,0.00,2.30,0.00,0.000,4,0.000,0.058,2402,542,3401,0,0,0,0,0,0
$GC,3262,-0.74,-146.0,267.9,-4.8,307,3267,0.00,2.20,0.00,0.000,6,0.000,0.038,2394,1965,3401,0,0,0,0,0,0
$GC,3582,-0.74,-146.0,286.2,-6.3,323,3586,0.00,2.28,0.00,0.000,4,0.000,0.062,2383,3363,3400,0,0,0,0,0,0
$GC,3604,-0.74,-146.0,287.9,-6.6,324,3609,0.00,2.25,0.00,0.000,6,0.000,0.046,2383,1948,3399,0,0,0,0,0,0
$GC,3953,-0.74,-146.0,312.3,-6.9,337,3957,0.00,2.28,0.00,0.000,4,0.000,0.061,2383,543,3398,0,0,0,0,0,0
$GC,4116,-0.74,-146.0,324.0,-6.7,340,4120,0.00,2.17,0.00,0.000,6,0.000,0.038,2373,1962,3397,0,0,0,0,0,0
$GC,4450,-0.74,-146.0,340.7,-4.4,348,4454,0.00,2.33,0.00,0.000,4,0.000,0.058,2373,547,3396,0,0,0,0,0,0
$GC,4709,-0.74,-146.0,357.6,-7.3,353,4715,0.12,2.17,0.00,0.000,6,0.156,0.039,2397,1955,3394,0,0,0,0,0,0
$GC,5041,-0.74,-146.0,377.5,-5.6,362,5045,0.00,2.30,0.00,0.000,4,0.000,0.059,2398,541,3392,0,0,0,0,0,0
$GC,5147,-0.74,-146.0,383.4,-6.2,364,5151,0.00,2.22,0.00,0.000,6,0.000,0.040,2390,1965,3391,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5412,-0.17,0.0,399.1,6.3,371,5537,0.60,0.00,121.90,0.710,6,0.111,0.000,2583,1965,2800,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,0.74,146.0,401.3,0.0,374,5679,0.82,2.42,127.25,0.690,4,0.076,0.058,2875,3387,2203,0,0,0,0,0,0
$GC,5843,0.74,146.0,371.5,11.9,381,5847,0.00,2.28,0.00,0.000,6,0.000,0.044,2884,1980,2198,0,0,0,0,0,0
$GC,6167,0.74,146.0,334.7,11.2,389,6172,0.00,2.28,0.00,0.000,4,0.000,0.056,2884,3391,2196,0,0,0,0,0,0
$GC,6326,0.74,146.0,316.0,11.8,392,6330,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1979,2195,0,0,0,0,0,0
$GC,6645,0.74,146.0,284.0,9.8,404,6649,0.00,2.28,0.00,0.000,4,0.000,0.057,2893,3388,2194,0,0,0,0,0,0
$GC,6775,0.74,146.0,268.8,11.5,410,6779,0.00,2.25,0.00,0.000,6,0.000,0.044,2900,1971,2193,0,0,0,0,0,0
$GC,7101,0.74,146.0,234.2,9.6,426,7105,0.00,2.28,0.00,0.000,4,0.000,0.058,2901,3392,2192,0,0,0,0,0,0
$GC,7249,0.74,146.0,219.4,9.9,432,7255,0.12,2.25,0.00,0.000,6,0.142,0.047,2873,1982,2192,0,0,0,0,0,0
$GC,7571,0.76,166.9,192.8,8.2,452,7596,0.00,2.30,17.33,0.574,4,0.000,0.058,2873,3381,2118,0,0,0,0,0,0
$GC,7646,0.77,176.6,186.1,8.6,458,7665,0.00,2.28,10.00,0.530,6,0.000,0.049,2880,1983,2078,0,0,0,0,0,0
$GC,7986,0.85,237.8,163.4,6.5,490,8047,0.00,2.38,53.97,0.569,4,0.000,0.060,2880,3393,1830,0,0,0,0,0,0
$GC,8132,0.85,237.8,150.3,9.5,503,8136,0.00,2.28,0.00,0.000,6,0.000,0.049,2886,1979,1828,0,0,0,0,0,0
$GC,8459,0.91,289.8,120.7,6.9,533,8511,0.12,2.30,45.83,0.528,4,0.079,0.063,2988,567,1617,0,0,0,0,0,0
$GC,8558,0.91,289.8,111.2,10.8,541,8562,0.17,2.25,0.00,0.000,6,0.121,0.041,2937,1983,1616,0,0,0,0,0,0
$GC,8885,0.92,293.7,80.4,8.9,571,8898,0.00,2.30,4.88,0.378,4,0.000,0.064,2936,3385,1600,0,0,0,0,0,0
$GC,8982,0.93,300.1,72.0,8.8,587,8995,0.00,2.28,7.12,0.414,6,0.000,0.049,2941,1969,1575,0,0,0,0,0,0
$GC,9326,0.94,308.7,42.6,8.7,649,9344,0.00,2.33,9.05,0.415,4,0.000,0.065,2951,568,1539,0,0,0,0,0,0
$GC,9367,0.94,308.7,38.6,9.1,656,9375,0.00,2.22,0.00,0.000,6,0.000,0.038,2950,1977,1539,0,0,0,0,0,0
$GC,9695,0.99,348.4,9.2,7.4,717,9733,0.00,0.00,33.85,0.433,6,0.000,0.000,2950,1977,1379,0,0,0,0,0,0
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9756,begin surface coast
$FINISH,0.6,1.010929
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9785,begin surface
$SM_CCo,9863,0.00,0.000,0,0,1373,349.79
$SM_GC,1.52,7.50,0.00,0.00,0.025,0.000,0.000,42,1977,1373,-8.00,0.62,349.79
$IRIDIUM_FIX,2057.14,-15746.61,041002,080802
$TT8_MAMPS,0.027612
$HUMID,67.95
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.4,58.933
$10V_AH,10.0,65.125
$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,19.200,90.500,431.175,0.000,0.000,79.315,108.921,312.957,16.500,0.000,27.471,1313.604,5500.231,431.032,2593.156,814.619,0.000,1363.387,0.000,2535.414,0.000,100.224,0.000
$DEVICE_MAMPS,213.226,65.195,710.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,496.246,438.254,1518.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41274,732
$CAP_FILE_SIZE,118973,0
$CFSIZE,260165632,221188096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100713,110458,2058.130,-15753.887,47,1.0,47,9.8