version: 66.06
glider: 523
mission: 4
dive: 436
start: 6 10 113 11 59 28
data:
$ID,523
$MISSION,4
$DIVE,436
$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,-44626.828
$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,32
$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
$GPS1,115304,2108.181,-15759.228,29,0.8,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,115911,2108.156,-15759.297,15,0.9,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,88.9,28631,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.07,0.000,2,0.000,0.000,52,1947,3332,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.3,12,113,9.52,0.00,-1.45,0.000,6,0.228,0.000,2392,1947,3398,0,0,0,0,0,0
$GC,268,-0.74,-146.0,36.1,-16.0,44,276,0.00,2.33,0.00,0.000,4,0.000,0.057,2392,547,3399,0,0,0,0,0,0
$GC,311,-0.74,-146.0,42.9,-15.8,51,317,0.00,2.17,0.00,0.000,6,0.000,0.033,2384,1970,3399,0,0,0,0,0,0
$GC,641,-0.74,-146.0,87.7,-14.0,107,645,0.00,2.30,0.00,0.000,4,0.000,0.054,2384,540,3400,0,0,0,0,0,0
$GC,895,-0.74,-146.0,121.9,-13.5,129,902,0.00,2.20,0.00,0.000,6,0.000,0.036,2375,1961,3401,0,0,0,0,0,0
$GC,1223,-0.74,-146.0,160.1,-10.7,160,1227,0.00,2.25,0.00,0.000,4,0.000,0.053,2375,543,3402,0,0,0,0,0,0
$GC,1265,-0.74,-146.0,165.0,-12.0,163,1269,0.12,2.17,0.00,0.000,6,0.164,0.035,2397,1968,3402,0,0,0,0,0,0
$GC,1592,-0.74,-146.0,192.6,-7.4,193,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1969,3403,0,0,0,0,0,0
$GC,1905,-0.74,-146.0,218.5,-8.6,213,1909,0.00,2.30,0.00,0.000,4,0.000,0.053,2398,547,3403,0,0,0,0,0,0
$GC,2090,-0.74,-146.0,233.0,-7.8,221,2094,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1955,3403,0,0,0,0,0,0
$GC,2409,-0.74,-146.0,256.6,-7.7,236,2413,0.00,2.28,0.00,0.000,4,0.000,0.053,2390,541,3403,0,0,0,0,0,0
$GC,2645,-0.74,-146.0,277.7,-8.5,246,2649,0.00,2.17,0.00,0.000,6,0.000,0.037,2380,1958,3402,0,0,0,0,0,0
$GC,2983,-0.74,-146.0,307.6,-9.2,260,2987,0.00,2.25,0.00,0.000,4,0.000,0.058,2370,3359,3402,0,0,0,0,0,0
$GC,3133,-0.74,-146.0,323.0,-10.2,263,3138,0.12,2.22,0.00,0.000,6,0.150,0.044,2403,1954,3402,0,0,0,0,0,0
$GC,3477,-0.74,-146.0,347.7,-6.5,272,3481,0.00,2.28,0.00,0.000,4,0.000,0.059,2403,541,3402,0,0,0,0,0,0
$GC,3590,-0.74,-146.0,355.0,-6.6,274,3597,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1955,3401,0,0,0,0,0,0
$GC,3935,-0.74,-146.0,375.1,-6.0,283,3939,0.00,2.30,0.00,0.000,4,0.000,0.058,2395,542,3400,0,0,0,0,0,0
$GC,4194,-0.74,-146.0,395.5,-8.5,288,4199,0.00,2.17,0.00,0.000,6,0.000,0.040,2385,1958,3397,0,0,0,0,0,0
$GC,4530,-0.74,-146.0,420.2,-7.4,297,4534,0.00,2.30,0.00,0.000,4,0.000,0.059,2385,540,3395,0,0,0,0,0,0
$GC,4625,-0.74,-146.0,426.9,-6.3,299,4629,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1958,3394,0,0,0,0,0,0
$GC,4944,-0.74,-146.0,434.4,-2.4,307,4948,0.00,2.28,0.00,0.000,4,0.000,0.061,2366,3370,3393,0,0,0,0,0,0
$GC,5028,-0.74,-146.0,437.0,-3.1,308,5034,0.12,2.28,0.00,0.000,6,0.149,0.048,2398,1948,3393,0,0,0,0,0,0
$GC,5360,-0.74,-146.0,444.8,-2.0,317,5364,0.00,2.28,0.00,0.000,4,0.000,0.065,2398,537,3390,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,447.5,6.5,318,5540,0.57,0.00,120.53,0.772,6,0.121,0.000,2577,1983,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,448.0,0.0,321,5681,0.85,2.42,126.45,0.742,4,0.077,0.061,2870,3389,2202,0,0,0,0,0,0
$GC,5704,0.74,146.0,428.1,14.3,324,5709,0.00,2.35,0.00,0.000,6,0.000,0.046,2880,1978,2200,0,0,0,0,0,0
$GC,6035,0.74,146.0,385.8,12.2,333,6039,0.00,2.33,0.00,0.000,4,0.000,0.060,2880,3389,2196,0,0,0,0,0,0
$GC,6119,0.74,146.0,373.9,14.5,335,6123,0.00,2.28,0.00,0.000,6,0.000,0.051,2890,1979,2195,0,0,0,0,0,0
$GC,6450,0.74,146.0,333.0,11.9,343,6454,0.00,2.30,0.00,0.000,4,0.000,0.070,2900,565,2193,0,0,0,0,0,0
$GC,6505,0.74,146.0,326.5,11.7,344,6509,0.00,2.22,0.00,0.000,6,0.000,0.045,2900,1977,2193,0,0,0,0,0,0
$GC,6834,0.74,146.0,284.3,12.2,355,6838,0.00,2.22,0.00,0.000,4,0.000,0.053,2900,3392,2192,0,0,0,0,0,0
$GC,6934,0.74,146.0,270.9,14.6,359,6939,0.12,2.22,0.00,0.000,6,0.153,0.042,2876,1974,2190,0,0,0,0,0,0
$GC,7250,0.74,146.0,235.1,11.0,374,7254,0.00,2.25,0.00,0.000,4,0.000,0.058,2885,570,2190,0,0,0,0,0,0
$GC,7312,0.74,146.0,228.5,10.6,377,7316,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1992,2190,0,0,0,0,0,0
$GC,7637,0.78,178.5,198.5,7.7,393,7673,0.00,2.25,26.42,0.620,4,0.000,0.053,2885,3386,2071,0,0,0,0,0,0
$GC,7741,0.78,178.5,188.8,10.3,402,7745,0.00,2.25,0.00,0.000,6,0.000,0.041,2895,1977,2069,0,0,0,0,0,0
$GC,8068,0.78,178.5,152.6,13.0,432,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1977,2068,0,0,0,0,0,0
$GC,8389,0.78,178.5,113.7,12.3,462,8393,0.00,2.25,0.00,0.000,4,0.000,0.051,2894,3389,2068,0,0,0,0,0,0
$GC,8462,0.78,178.5,104.2,12.6,468,8466,0.00,2.20,0.00,0.000,6,0.000,0.040,2905,1978,2068,0,0,0,0,0,0
$GC,8787,0.78,178.5,66.7,12.1,508,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1977,2068,0,0,0,0,0,0
$GC,9120,0.81,205.2,35.5,7.9,569,9149,0.00,2.22,22.98,0.475,4,0.000,0.055,2911,570,1963,0,0,0,0,0,0
$GC,9321,0.87,253.7,20.2,7.0,606,9374,0.00,2.20,42.35,0.464,6,0.000,0.037,2911,1976,1763,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.7,1.023263
$STATE,9533,end surface coast,CONTROL_FINISHED_OK
$STATE,9533,begin surface
$SM_CCo,9551,22.65,0.428,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,22.65,0.000,0.000,0.428,46,1980,1575,-8.11,0.65,300.24
$IRIDIUM_FIX,2106.38,-15742.72,040902,090928
$TT8_MAMPS,0.029146
$HUMID,66.42
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,420.2,58.7
$24V_AH,24.5,35.961
$10V_AH,10.4,39.524
$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,18.875,85.500,338.725,22.650,0.000,28.723,42.697,162.139,18.000,0.000,16.117,1194.214,5645.599,392.905,2219.206,487.119,0.000,1204.562,0.000,2168.633,0.000,113.336,0.000
$DEVICE_MAMPS,227.799,69.797,771.602,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,437.369,364.359,1239.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35029,644
$CAP_FILE_SIZE,103099,0
$CFSIZE,260165632,234323968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,144013,2108.142,-15759.179,32,1.7,32,9.8