version: 66.06
glider: 523
mission: 4
dive: 499
start: 6 17 113 19 51 4
data:
$ID,523
$MISSION,4
$DIVE,499
$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,-45953.684
$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,21
$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
$GPS1,193652,2108.865,-15749.070,35,0.9,35,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.2
$GPS2,195047,2108.956,-15749.261,16,0.9,16,9.8
$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,108.2,12408,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.62,0.000,2,0.000,0.000,50,1970,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.6,12,113,9.52,2.30,-0.62,0.000,4,0.224,0.066,2391,542,3396,0,0,0,0,0,0
$GC,138,-0.74,-146.0,14.5,-27.3,18,146,0.00,2.22,0.00,0.000,6,0.000,0.036,2383,1961,3397,0,0,0,0,0,0
$GC,310,-0.74,-146.0,43.3,-16.4,49,315,0.00,2.25,0.00,0.000,4,0.000,0.053,2372,3370,3397,0,0,0,0,0,0
$GC,327,-0.74,-146.0,46.8,-16.9,52,335,0.08,2.28,0.00,0.000,6,0.139,0.044,2395,1958,3397,0,0,0,0,0,0
$GC,663,-0.74,-146.0,89.2,-9.5,104,667,0.00,2.28,0.00,0.000,4,0.000,0.058,2396,538,3398,0,0,0,0,0,0
$GC,913,-0.74,-146.0,114.4,-10.4,126,921,0.00,2.20,0.00,0.000,6,0.000,0.035,2388,1966,3399,0,0,0,0,0,0
$GC,1241,-0.74,-146.0,145.1,-10.1,157,1245,0.00,2.28,0.00,0.000,4,0.000,0.054,2387,544,3399,0,0,0,0,0,0
$GC,1381,-0.74,-146.0,160.9,-11.0,169,1385,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1968,3399,0,0,0,0,0,0
$GC,1708,-0.74,-146.0,193.7,-10.1,199,1712,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,542,3400,0,0,0,0,0,0
$GC,1762,-0.74,-146.0,199.2,-10.5,203,1769,0.12,2.17,0.00,0.000,6,0.166,0.035,2401,1967,3400,0,0,0,0,0,0
$GC,2086,-0.74,-146.0,227.6,-7.9,219,2090,0.00,2.28,0.00,0.000,4,0.000,0.054,2401,545,3400,0,0,0,0,0,0
$GC,2148,-0.74,-146.0,232.6,-8.3,222,2152,0.00,2.17,0.00,0.000,6,0.000,0.036,2393,1966,3400,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,256.8,-6.5,238,2481,0.00,2.30,0.00,0.000,4,0.000,0.054,2393,544,3400,0,0,0,0,0,0
$GC,2603,-0.74,-146.0,265.3,-6.4,243,2609,0.00,2.15,0.00,0.000,6,0.000,0.036,2383,1957,3399,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,286.3,-7.6,259,2926,0.00,2.33,0.00,0.000,4,0.000,0.055,2383,538,3399,0,0,0,0,0,0
$GC,3041,-0.74,-146.0,295.8,-7.3,264,3045,0.00,2.17,0.00,0.000,6,0.000,0.037,2374,1961,3399,0,0,0,0,0,0
$GC,3361,-0.74,-146.0,315.1,-5.8,274,3365,0.00,2.28,0.00,0.000,4,0.000,0.055,2374,545,3399,0,0,0,0,0,0
$GC,3621,-0.74,-146.0,334.2,-8.0,279,3628,0.12,2.17,0.00,0.000,6,0.163,0.039,2404,1955,3397,0,0,0,0,0,0
$GC,3953,-0.74,-146.0,354.1,-6.0,288,3957,0.00,2.30,0.00,0.000,4,0.000,0.058,2404,544,3396,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,367.5,-6.2,292,4172,0.00,2.20,0.00,0.000,6,0.000,0.040,2396,1959,3394,0,0,0,0,0,0
$GC,4501,-0.74,-146.0,386.1,-5.3,300,4505,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,547,3392,0,0,0,0,0,0
$GC,4648,-0.74,-146.0,394.7,-6.1,303,4653,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,1962,3390,0,0,0,0,0,0
$GC,4961,-0.74,-146.0,412.2,-5.5,311,4965,0.00,2.28,0.00,0.000,4,0.000,0.060,2376,3369,3389,0,0,0,0,0,0
$GC,5029,-0.74,-146.0,415.6,-4.6,312,5033,0.00,2.25,0.00,0.000,6,0.000,0.046,2376,1956,3389,0,0,0,0,0,0
$GC,5373,-0.74,-146.0,431.0,-4.2,321,5377,0.00,2.30,0.00,0.000,4,0.000,0.064,2376,547,3387,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5412,-0.17,0.0,432.7,4.6,321,5538,0.65,0.00,120.47,0.745,6,0.127,0.000,2575,1990,2799,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,428.9,0.0,325,5680,0.88,2.38,126.65,0.716,4,0.079,0.059,2876,3383,2202,0,0,0,0,0,0
$GC,5770,0.74,146.0,396.6,17.0,330,5774,0.00,2.30,0.00,0.000,6,0.000,0.046,2885,1976,2198,0,0,0,0,0,0
$GC,6118,0.74,146.0,349.6,12.4,339,6122,0.00,2.30,0.00,0.000,4,0.000,0.060,2885,3385,2196,0,0,0,0,0,0
$GC,6179,0.74,146.0,341.4,13.7,340,6183,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1979,2194,0,0,0,0,0,0
$GC,6501,0.74,146.0,297.3,13.5,349,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1979,2193,0,0,0,0,0,0
$GC,6811,0.74,146.0,260.1,11.3,364,6815,0.00,2.25,0.00,0.000,4,0.000,0.061,2902,562,2191,0,0,0,0,0,0
$GC,6844,0.74,146.0,256.0,11.8,365,6849,0.00,2.20,0.00,0.000,6,0.000,0.038,2902,1991,2191,0,0,0,0,0,0
$GC,7159,0.74,146.0,219.7,11.7,381,7163,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3386,2190,0,0,0,0,0,0
$GC,7305,0.74,146.0,201.7,11.5,387,7310,0.12,2.22,0.00,0.000,6,0.149,0.044,2878,1973,2189,0,0,0,0,0,0
$GC,7632,0.74,146.0,170.5,10.1,416,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1973,2189,0,0,0,0,0,0
$GC,7952,0.78,181.9,140.0,7.5,446,7988,0.00,2.25,28.92,0.557,4,0.000,0.057,2886,563,2057,0,0,0,0,0,0
$GC,8014,0.81,208.2,135.2,7.9,451,8048,0.00,2.20,23.92,0.542,6,0.000,0.038,2887,1987,1950,0,0,0,0,0,0
$GC,8367,0.81,208.2,103.4,10.1,484,8371,0.00,2.22,0.00,0.000,4,0.000,0.051,2886,3387,1947,0,0,0,0,0,0
$GC,8464,0.81,208.2,91.7,11.8,492,8471,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1983,1946,0,0,0,0,0,0
$GC,8794,0.92,294.5,60.3,5.4,544,8875,0.12,2.25,73.60,0.489,4,0.072,0.051,2980,3386,1597,0,0,0,0,0,0
$GC,8940,0.92,294.5,44.0,12.9,569,8946,0.20,2.25,0.00,0.000,6,0.131,0.041,2932,1972,1595,0,0,0,0,0,0
$GC,9266,0.92,294.5,10.0,11.2,630,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1972,1596,0,0,0,0,0,0
$STATE,9340,end climb,SURFACE_DEPTH_REACHED
$STATE,9340,begin surface coast
$FINISH,0.6,1.014214
$STATE,9368,end surface coast,CONTROL_FINISHED_OK
$STATE,9368,begin surface
$SM_CCo,9386,2.97,0.247,0,0,1573,300.24
$SM_GC,1.82,0.00,0.00,2.97,0.000,0.000,0.247,29,1967,1573,-8.16,0.28,300.24
$IRIDIUM_FIX,2057.14,-15746.61,110902,191935
$TT8_MAMPS,0.028379
$HUMID,66.65
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.5,41.470
$10V_AH,10.3,45.705
$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,19.250,89.875,373.575,2.975,0.000,88.932,101.074,372.849,18.250,0.000,16.716,1197.461,5539.422,401.030,2240.860,843.799,0.000,1225.858,0.000,2193.312,0.000,111.064,0.000
$DEVICE_MAMPS,223.964,65.962,744.757,246.974,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,439.672,372.403,1282.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,34955,649
$CAP_FILE_SIZE,112465,0
$CFSIZE,260165632,231149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,222852,2108.756,-15748.463,39,0.8,39,9.8