version: 66.06
glider: 523
mission: 4
dive: 497
start: 6 17 113 14 6 4
data:
$ID,523
$MISSION,4
$DIVE,497
$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,-45918.172
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,135528,2109.198,-15750.833,63,0.9,63,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.4
$GPS2,140547,2109.138,-15750.879,18,1.1,18,9.8
$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,104.3,15070,-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,-77.72,0.000,6,0.000,0.000,25,1971,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-4.9,13,118,9.73,2.28,0.00,0.000,4,0.227,0.051,2393,546,3397,0,0,0,0,0,0
$GC,194,-0.74,-146.0,25.7,-16.5,29,201,0.00,2.20,0.00,0.000,6,0.000,0.036,2385,1952,3397,0,0,0,0,0,0
$GC,366,-0.74,-146.0,54.5,-17.6,60,373,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,551,3398,0,0,0,0,0,0
$GC,423,-0.74,-146.0,65.0,-16.8,70,430,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1958,3398,0,0,0,0,0,0
$GC,760,-0.74,-146.0,99.7,-9.3,113,764,0.00,2.28,0.00,0.000,4,0.000,0.053,2376,539,3399,0,0,0,0,0,0
$GC,1013,-0.74,-146.0,126.5,-10.6,136,1017,0.12,2.15,0.00,0.000,6,0.168,0.033,2398,1970,3400,0,0,0,0,0,0
$GC,1339,-0.74,-146.0,156.2,-9.1,166,1343,0.00,2.28,0.00,0.000,4,0.000,0.052,2398,537,3401,0,0,0,0,0,0
$GC,1558,-0.74,-146.0,178.8,-10.6,185,1566,0.00,2.17,0.00,0.000,6,0.000,0.034,2390,1948,3401,0,0,0,0,0,0
$GC,1891,-0.74,-146.0,210.4,-10.1,212,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1948,3401,0,0,0,0,0,0
$GC,2200,-0.74,-146.0,233.7,-6.6,227,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1948,3401,0,0,0,0,0,0
$GC,2510,-0.74,-146.0,256.7,-7.5,242,2514,0.00,2.28,0.00,0.000,4,0.000,0.051,2390,545,3401,0,0,0,0,0,0
$GC,2712,-0.74,-146.0,274.6,-8.6,251,2719,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1965,3401,0,0,0,0,0,0
$GC,3043,-0.74,-146.0,299.1,-7.2,267,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1965,3400,0,0,0,0,0,0
$GC,3346,-0.74,-146.0,322.1,-7.8,275,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1965,3400,0,0,0,0,0,0
$GC,3672,-0.74,-146.0,344.3,-6.3,283,3676,0.00,2.35,0.00,0.000,4,0.000,0.055,2380,542,3399,0,0,0,0,0,0
$GC,3886,-0.74,-146.0,359.3,-7.1,287,3892,0.12,2.15,0.00,0.000,6,0.168,0.036,2403,1958,3397,0,0,0,0,0,0
$GC,4220,-0.74,-146.0,380.4,-6.4,296,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1958,3395,0,0,0,0,0,0
$GC,4542,-0.74,-146.0,399.0,-5.3,304,4546,0.00,2.35,0.00,0.000,4,0.000,0.058,2403,538,3393,0,0,0,0,0,0
$GC,4598,-0.74,-146.0,401.9,-5.5,305,4602,0.00,2.20,0.00,0.000,6,0.000,0.038,2395,1959,3393,0,0,0,0,0,0
$GC,4949,-0.74,-146.0,419.6,-5.3,314,4953,0.00,2.35,0.00,0.000,4,0.000,0.057,2396,547,3391,0,0,0,0,0,0
$GC,5097,-0.74,-146.0,429.2,-7.0,317,5101,0.00,2.17,0.00,0.000,6,0.000,0.040,2386,1965,3389,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5414,-0.17,0.0,448.0,5.9,325,5538,0.62,0.00,120.90,0.758,6,0.121,0.000,2583,1966,2800,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,0.74,146.0,448.5,0.0,328,5679,0.85,2.40,127.03,0.733,4,0.077,0.057,2876,3374,2203,0,0,0,0,0,0
$GC,5741,0.74,146.0,427.3,12.6,332,5745,0.00,2.30,0.00,0.000,6,0.000,0.045,2885,1977,2200,0,0,0,0,0,0
$GC,6078,0.74,146.0,384.6,12.9,341,6082,0.00,2.30,0.00,0.000,4,0.000,0.055,2885,3383,2196,0,0,0,0,0,0
$GC,6111,0.74,146.0,380.2,12.8,341,6115,0.00,2.28,0.00,0.000,6,0.000,0.048,2894,1973,2195,0,0,0,0,0,0
$GC,6442,0.74,146.0,339.4,11.9,349,6446,0.00,2.30,0.00,0.000,4,0.000,0.065,2905,566,2193,0,0,0,0,0,0
$GC,6482,0.74,146.0,334.8,12.3,350,6486,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1981,2193,0,0,0,0,0,0
$GC,6806,0.74,146.0,294.0,13.1,359,6811,0.00,2.25,0.00,0.000,4,0.000,0.062,2905,3391,2191,0,0,0,0,0,0
$GC,6946,0.74,146.0,274.2,14.1,365,6951,0.12,2.22,0.00,0.000,6,0.151,0.041,2880,1972,2190,0,0,0,0,0,0
$GC,7263,0.75,155.3,241.2,8.6,380,7276,0.00,2.30,7.07,0.551,4,0.000,0.061,2889,570,2165,0,0,0,0,0,0
$GC,7335,0.78,181.6,235.4,7.9,383,7365,0.00,2.20,24.08,0.630,6,0.000,0.041,2889,1980,2058,0,0,0,0,0,0
$GC,7684,0.78,181.6,201.6,9.4,400,7688,0.00,2.20,0.00,0.000,4,0.000,0.052,2889,3389,2055,0,0,0,0,0,0
$GC,7856,0.78,181.6,183.5,10.5,415,7860,0.00,2.22,0.00,0.000,6,0.000,0.041,2899,1976,2054,0,0,0,0,0,0
$GC,8183,0.78,181.6,148.6,11.1,445,8187,0.00,2.22,0.00,0.000,4,0.000,0.059,2909,573,2053,0,0,0,0,0,0
$GC,8237,0.78,181.6,142.0,12.8,449,8244,0.00,2.22,0.00,0.000,6,0.000,0.043,2909,1978,2053,0,0,0,0,0,0
$GC,8565,0.78,181.6,105.0,11.6,480,8569,0.00,2.25,0.00,0.000,4,0.000,0.053,2909,3392,2053,0,0,0,0,0,0
$GC,8661,0.78,181.6,92.4,12.8,488,8669,0.00,2.25,0.00,0.000,6,0.000,0.047,2919,1986,2053,0,0,0,0,0,0
$GC,8993,0.80,200.3,55.1,8.3,539,9017,0.00,2.30,16.65,0.473,4,0.000,0.058,2930,559,1981,0,0,0,0,0,0
$GC,9043,0.82,214.5,51.0,8.4,547,9068,0.00,2.22,13.60,0.456,6,0.000,0.042,2930,1981,1924,0,0,0,0,0,0
$GC,9395,0.82,214.5,18.5,9.6,611,9402,0.00,2.25,0.00,0.000,4,0.000,0.053,2930,3385,1923,0,0,0,0,0,0
$GC,9478,0.82,214.5,7.7,13.3,626,9486,0.08,2.25,0.00,0.000,6,0.120,0.046,2909,1978,1922,0,0,0,0,0,0
$STATE,9519,end climb,SURFACE_DEPTH_REACHED
$STATE,9519,begin surface coast
$FINISH,0.7,1.023210
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9565,40.65,0.434,0,0,1575,300.24
$SM_GC,1.56,0.00,0.00,40.65,0.000,0.000,0.434,33,1974,1575,-8.15,0.48,300.24
$IRIDIUM_FIX,2052.52,-15751.76,110902,141451
$TT8_MAMPS,0.028379
$HUMID,66.42
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.5,41.277
$10V_AH,10.3,45.505
$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,18.925,80.975,309.325,40.650,0.000,59.482,102.688,243.096,18.750,0.000,18.792,1180.125,5841.561,403.573,2124.702,672.080,0.000,1175.142,0.000,2072.075,0.000,115.725,0.000
$DEVICE_MAMPS,227.032,65.195,757.796,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,433.491,366.885,1212.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34972,638
$CAP_FILE_SIZE,103950,0
$CFSIZE,260165632,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,164728,2109.072,-15749.713,39,0.7,39,9.8