version: 66.06
glider: 523
mission: 4
dive: 687
start: 7 10 113 14 6 57
data:
$ID,523
$MISSION,4
$DIVE,687
$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,-49830.633
$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,28
$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
$GPS1,135934,2057.910,-15755.198,123,0.8,123,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.6
$GPS2,140641,2057.900,-15755.225,18,0.8,18,9.8
$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,318.8,22649,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.82,0.000,2,0.000,0.000,33,1969,3374,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-5.0,12,113,9.48,2.25,-0.47,0.000,4,0.216,0.065,2385,3369,3396,0,0,0,0,0,0
$GC,191,-0.74,-146.0,19.8,-12.7,28,198,0.00,2.30,0.00,0.000,6,0.000,0.046,2384,1951,3398,0,0,0,0,0,0
$GC,365,-0.74,-146.0,39.6,-10.7,59,370,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,538,3398,0,0,0,0,0,0
$GC,617,-0.74,-146.0,71.5,-11.8,105,623,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1964,3399,0,0,0,0,0,0
$GC,952,-0.74,-146.0,104.3,-9.3,143,959,0.00,2.33,0.00,0.000,4,0.000,0.061,2375,538,3399,0,0,0,0,0,0
$GC,1056,-0.74,-146.0,114.9,-11.0,152,1064,0.10,2.25,0.00,0.000,6,0.136,0.041,2397,1962,3400,0,0,0,0,0,0
$GC,1384,-0.74,-146.0,141.9,-6.5,183,1388,0.00,2.25,0.00,0.000,4,0.000,0.064,2389,3371,3400,0,0,0,0,0,0
$GC,1438,-0.74,-146.0,145.8,-7.3,187,1446,0.00,2.28,0.00,0.000,6,0.000,0.046,2389,1960,3400,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,167.9,-7.1,218,1771,0.00,2.30,0.00,0.000,4,0.000,0.063,2389,545,3401,0,0,0,0,0,0
$GC,2018,-0.74,-146.0,189.5,-7.4,240,2026,0.00,2.22,0.00,0.000,6,0.000,0.040,2379,1968,3401,0,0,0,0,0,0
$GC,2338,-0.74,-146.0,212.3,-7.5,263,2342,0.00,2.35,0.00,0.000,4,0.000,0.059,2379,535,3401,0,0,0,0,0,0
$GC,2506,-0.74,-146.0,226.3,-8.0,270,2512,0.12,2.20,0.00,0.000,6,0.158,0.040,2402,1960,3401,0,0,0,0,0,0
$GC,2824,-0.74,-146.0,244.7,-6.2,286,2831,0.00,2.25,0.00,0.000,4,0.000,0.063,2394,3363,3401,0,0,0,0,0,0
$GC,2843,-0.74,-146.0,246.0,-6.2,286,2849,0.00,2.25,0.00,0.000,6,0.000,0.047,2394,1956,3401,0,0,0,0,0,0
$GC,3159,-0.74,-146.0,264.9,-6.0,302,3164,0.00,2.28,0.00,0.000,4,0.000,0.062,2394,545,3401,0,0,0,0,0,0
$GC,3182,-0.74,-146.0,266.4,-7.0,303,3186,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1961,3401,0,0,0,0,0,0
$GC,3511,-0.74,-146.0,287.2,-5.8,319,3515,0.00,2.33,0.00,0.000,4,0.000,0.058,2384,535,3401,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,299.8,-5.7,328,3721,0.00,2.22,0.00,0.000,6,0.000,0.039,2375,1966,3400,0,0,0,0,0,0
$GC,4059,-0.74,-146.0,319.7,-5.9,337,4064,0.00,2.33,0.00,0.000,4,0.000,0.059,2375,543,3399,0,0,0,0,0,0
$GC,4217,-0.74,-146.0,330.4,-6.9,340,4221,0.12,2.20,0.00,0.000,6,0.153,0.039,2398,1958,3398,0,0,0,0,0,0
$GC,4559,-0.74,-146.0,349.1,-5.4,349,4563,0.00,2.28,0.00,0.000,4,0.000,0.064,2390,3365,3397,0,0,0,0,0,0
$GC,4692,-0.74,-146.0,356.0,-5.3,352,4696,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,1951,3396,0,0,0,0,0,0
$GC,5017,-0.74,-146.0,373.2,-5.3,360,5021,0.00,2.28,0.00,0.000,4,0.000,0.062,2389,545,3394,0,0,0,0,0,0
$GC,5230,-0.74,-146.0,388.3,-6.7,364,5235,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1958,3393,0,0,0,0,0,0
$STATE,5436,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5436,begin apogee
$GC,5443,-0.17,0.0,402.8,6.9,370,5569,0.62,0.00,122.62,0.713,6,0.116,0.000,2578,1958,2800,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5573,0.74,146.0,403.8,0.0,373,5707,0.85,0.00,127.30,0.691,6,0.078,0.000,2875,1958,2204,0,0,0,0,0,0
$GC,6020,0.74,146.0,357.0,11.1,384,6025,0.00,2.28,0.00,0.000,4,0.000,0.059,2875,3386,2198,0,0,0,0,0,0
$GC,6240,0.74,146.0,334.3,10.2,389,6244,0.00,2.25,0.00,0.000,6,0.000,0.045,2885,1966,2195,0,0,0,0,0,0
$GC,6564,0.74,146.0,302.7,9.7,397,6568,0.00,2.30,0.00,0.000,4,0.000,0.057,2884,3389,2194,0,0,0,0,0,0
$GC,6699,0.74,146.0,289.9,9.1,402,6703,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1982,2193,0,0,0,0,0,0
$GC,7020,0.74,146.0,262.5,9.8,418,7024,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3389,2192,0,0,0,0,0,0
$GC,7126,0.74,146.0,249.5,12.4,422,7132,0.00,2.25,0.00,0.000,6,0.000,0.046,2900,1977,2192,0,0,0,0,0,0
$GC,7442,0.74,146.0,218.3,9.2,438,7446,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,3385,2191,0,0,0,0,0,0
$GC,7572,0.74,146.0,204.5,10.8,444,7577,0.12,2.25,0.00,0.000,6,0.143,0.048,2873,1978,2191,0,0,0,0,0,0
$GC,7899,0.77,176.5,179.9,7.8,472,7935,0.00,2.35,25.17,0.580,4,0.000,0.060,2873,3387,2079,0,0,0,0,0,0
$GC,8026,0.77,176.5,168.5,9.9,483,8030,0.00,2.28,0.00,0.000,6,0.000,0.048,2880,1971,2077,0,0,0,0,0,0
$GC,8353,0.81,201.9,140.2,8.0,513,8381,0.00,2.30,23.20,0.542,4,0.000,0.058,2880,3385,1975,0,0,0,0,0,0
$GC,8462,0.83,224.0,131.5,8.1,522,8489,0.00,2.28,20.83,0.527,6,0.000,0.049,2887,1970,1884,0,0,0,0,0,0
$GC,8818,0.86,242.3,103.9,8.3,555,8842,0.00,2.33,17.05,0.493,4,0.000,0.058,2887,3379,1810,0,0,0,0,0,0
$GC,8889,0.86,247.4,98.1,8.8,561,8902,0.00,2.28,5.93,0.414,6,0.000,0.051,2895,1973,1791,0,0,0,0,0,0
$GC,9223,0.86,247.4,70.7,9.9,600,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1973,1790,0,0,0,0,0,0
$GC,9557,0.94,312.7,42.9,6.3,661,9621,0.12,2.33,56.83,0.468,4,0.079,0.058,2970,3382,1523,0,0,0,0,0,0
$GC,9687,0.94,312.7,30.7,10.6,684,9694,0.10,2.30,0.00,0.000,6,0.098,0.051,2939,1987,1522,0,0,0,0,0,0
$STATE,10004,end climb,SURFACE_DEPTH_REACHED
$STATE,10004,begin surface coast
$FINISH,0.6,1.011706
$STATE,10039,end surface coast,CONTROL_FINISHED_OK
$STATE,10039,begin surface
$SM_CCo,10118,0.00,0.000,0,0,1520,313.98
$SM_GC,1.57,7.32,0.00,0.00,0.018,0.000,0.000,39,1950,1520,-7.99,-0.14,313.98
$IRIDIUM_FIX,2045.60,-15748.36,041002,111103
$TT8_MAMPS,0.027612
$HUMID,68.98
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,397.3,57.9
$24V_AH,24.4,59.108
$10V_AH,10.0,65.347
$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,18.975,90.850,398.925,0.000,0.000,28.628,33.245,213.081,16.750,0.000,19.002,1346.249,5608.700,424.571,2579.420,576.200,0.000,1332.448,0.000,2532.198,0.000,107.823,0.000
$DEVICE_MAMPS,216.294,164.138,712.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,508.568,449.199,1540.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41235,749
$CAP_FILE_SIZE,112859,0
$CFSIZE,260165632,221081600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100713,165631,2058.123,-15756.756,20,0.8,20,9.8