version: 66.06
glider: 523
mission: 4
dive: 505
start: 6 18 113 13 11 15
data:
$ID,523
$MISSION,4
$DIVE,505
$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,-46071.086
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,130104,2107.276,-15745.083,27,1.5,27,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.3
$GPS2,131059,2107.315,-15745.107,17,1.3,17,9.8
$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,116.5,4694,-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,-75.88,0.000,2,0.000,0.000,48,1952,3379,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.4,12,113,9.60,2.25,-0.32,0.000,4,0.226,0.067,2396,545,3396,0,0,0,0,0,0
$GC,221,-0.74,-146.0,27.7,-16.1,34,229,0.00,2.22,0.00,0.000,6,0.000,0.038,2388,1961,3397,0,0,0,0,0,0
$GC,395,-0.74,-146.0,54.3,-13.9,65,400,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,547,3397,0,0,0,0,0,0
$GC,620,-0.74,-146.0,89.1,-13.0,100,627,0.00,2.20,0.00,0.000,6,0.000,0.035,2378,1962,3398,0,0,0,0,0,0
$GC,947,-0.74,-146.0,123.8,-10.4,131,951,0.00,2.17,0.00,0.000,4,0.000,0.055,2368,3359,3399,0,0,0,0,0,0
$GC,1020,-0.74,-146.0,131.1,-9.6,137,1025,0.12,2.20,0.00,0.000,6,0.153,0.044,2400,1951,3400,0,0,0,0,0,0
$GC,1347,-0.74,-146.0,157.3,-8.7,167,1351,0.00,2.20,0.00,0.000,4,0.000,0.054,2400,544,3400,0,0,0,0,0,0
$GC,1423,-0.74,-146.0,164.3,-9.7,173,1431,0.00,2.17,0.00,0.000,6,0.000,0.034,2393,1957,3400,0,0,0,0,0,0
$GC,1750,-0.74,-146.0,194.1,-9.0,204,1754,0.00,2.25,0.00,0.000,4,0.000,0.052,2393,546,3400,0,0,0,0,0,0
$GC,1911,-0.74,-146.0,207.9,-7.8,214,1915,0.00,2.17,0.00,0.000,6,0.000,0.035,2383,1967,3400,0,0,0,0,0,0
$GC,2231,-0.74,-146.0,230.7,-7.5,229,2235,0.00,2.28,0.00,0.000,4,0.000,0.052,2383,547,3400,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,243.2,-7.4,235,2383,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1970,3400,0,0,0,0,0,0
$GC,2695,-0.74,-146.0,268.5,-8.1,251,2699,0.00,2.28,0.00,0.000,4,0.000,0.053,2373,539,3400,0,0,0,0,0,0
$GC,2937,-0.74,-146.0,289.8,-8.5,261,2944,0.15,2.17,0.00,0.000,6,0.153,0.035,2404,1961,3400,0,0,0,0,0,0
$GC,3275,-0.74,-146.0,310.7,-5.9,274,3278,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,3361,3400,0,0,0,0,0,0
$GC,3449,-0.74,-146.0,322.0,-6.4,278,3453,0.00,2.22,0.00,0.000,6,0.000,0.044,2395,1951,3400,0,0,0,0,0,0
$GC,3774,-0.74,-146.0,339.7,-5.1,286,3778,0.00,2.25,0.00,0.000,4,0.000,0.053,2385,3366,3398,0,0,0,0,0,0
$GC,3840,-0.74,-146.0,342.6,-5.3,287,3844,0.00,2.22,0.00,0.000,6,0.000,0.044,2385,1956,3397,0,0,0,0,0,0
$GC,4183,-0.74,-146.0,364.3,-7.4,296,4187,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,540,3395,0,0,0,0,0,0
$GC,4442,-0.74,-146.0,386.9,-8.5,301,4447,0.00,2.20,0.00,0.000,6,0.000,0.038,2376,1962,3393,0,0,0,0,0,0
$GC,4775,-0.74,-146.0,408.9,-5.7,310,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3391,0,0,0,0,0,0
$GC,5099,-0.74,-146.0,426.2,-5.7,318,5103,0.00,2.28,0.00,0.000,4,0.000,0.058,2375,542,3390,0,0,0,0,0,0
$GC,5250,-0.74,-146.0,437.3,-7.3,321,5255,0.12,2.20,0.00,0.000,6,0.158,0.039,2398,1959,3389,0,0,0,0,0,0
$STATE,5428,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5428,begin apogee
$GC,5435,-0.17,0.0,447.9,5.9,326,5559,0.57,0.00,121.25,0.760,6,0.114,0.000,2586,1960,2799,0,0,0,0,0,0
$STATE,5560,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5563,0.74,146.0,448.8,0.0,329,5701,0.82,2.35,126.80,0.736,4,0.076,0.058,2871,3377,2203,0,0,0,0,0,0
$GC,5757,0.74,146.0,428.4,13.4,333,5761,0.00,2.28,0.00,0.000,6,0.000,0.047,2880,1982,2200,0,0,0,0,0,0
$GC,6100,0.74,146.0,388.4,11.7,342,6104,0.00,2.28,0.00,0.000,4,0.000,0.058,2880,3384,2196,0,0,0,0,0,0
$GC,6127,0.74,146.0,384.9,12.1,342,6131,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,1969,2195,0,0,0,0,0,0
$GC,6464,0.74,146.0,339.5,14.2,351,6468,0.00,2.28,0.00,0.000,4,0.000,0.067,2899,573,2194,0,0,0,0,0,0
$GC,6526,0.74,146.0,330.6,13.9,352,6530,0.00,2.20,0.00,0.000,6,0.000,0.042,2900,1978,2193,0,0,0,0,0,0
$GC,6849,0.74,146.0,286.8,12.2,363,6853,0.00,2.25,0.00,0.000,4,0.000,0.061,2899,3389,2192,0,0,0,0,0,0
$GC,6956,0.74,146.0,272.1,13.5,367,6962,0.12,2.25,0.00,0.000,6,0.152,0.049,2874,1973,2191,0,0,0,0,0,0
$GC,7272,0.74,146.0,240.5,9.6,383,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1973,2190,0,0,0,0,0,0
$GC,7582,0.74,151.4,212.8,8.8,398,7586,0.00,2.30,0.00,0.000,4,0.000,0.066,2883,566,2189,0,0,0,0,0,0
$GC,7632,0.74,151.4,208.1,9.8,400,7636,0.00,2.20,0.00,0.000,6,0.000,0.041,2883,1984,2189,0,0,0,0,0,0
$GC,7958,0.74,151.4,176.1,10.1,426,7962,0.00,2.25,0.00,0.000,4,0.000,0.054,2883,3394,2189,0,0,0,0,0,0
$GC,8086,0.74,151.4,162.0,11.4,437,8090,0.00,2.25,0.00,0.000,6,0.000,0.047,2893,1979,2188,0,0,0,0,0,0
$GC,8413,0.74,151.4,131.3,9.1,467,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1979,2188,0,0,0,0,0,0
$GC,8733,0.77,174.3,102.7,8.1,497,8761,0.00,2.25,22.67,0.523,4,0.000,0.053,2892,3397,2089,0,0,0,0,0,0
$GC,8832,0.77,174.3,93.6,9.4,505,8839,0.00,2.28,0.00,0.000,6,0.000,0.044,2900,1980,2087,0,0,0,0,0,0
$GC,9162,0.77,174.3,63.5,9.1,551,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1980,2087,0,0,0,0,0,0
$GC,9494,0.86,245.4,41.5,6.1,612,9558,0.00,0.00,60.67,0.473,6,0.000,0.000,2900,1980,1798,0,0,0,0,0,0
$GC,9878,0.86,245.4,10.6,9.7,683,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1980,1797,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.7,1.022997
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10025,25.48,0.420,0,0,1575,300.24
$SM_GC,1.41,0.00,0.00,25.48,0.000,0.000,0.420,49,1973,1575,-8.10,0.45,300.24
$IRIDIUM_FIX,2054.83,-15744.48,120902,131359
$TT8_MAMPS,0.027612
$HUMID,65.27
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,42.057
$10V_AH,10.3,46.313
$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,18.800,80.525,331.400,25.475,0.000,52.980,82.646,245.428,18.750,0.000,17.595,1280.582,5900.547,391.058,2397.165,672.480,0.000,1229.337,0.000,2349.207,0.000,120.480,0.000
$DEVICE_MAMPS,226.265,67.496,760.097,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,479.793,402.915,1397.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38057,707
$CAP_FILE_SIZE,109724,0
$CFSIZE,260165632,230834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,155943,2106.866,-15744.100,17,0.7,18,9.8