version: 66.06
glider: 523
mission: 4
dive: 507
start: 6 18 113 19 4 30
data:
$ID,523
$MISSION,4
$DIVE,507
$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,-46103.836
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,184928,2106.555,-15743.365,83,0.8,83,9.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.7
$GPS2,190411,2106.594,-15743.533,14,1.1,14,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,204.5,19441,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.60,0.000,6,0.000,0.000,35,1948,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.6,-4.9,13,118,9.75,2.20,0.00,0.000,4,0.229,0.048,2393,550,3397,0,0,0,0,0,0
$GC,323,-0.74,-146.0,44.3,-14.5,53,329,0.00,2.17,0.00,0.000,6,0.000,0.034,2385,1963,3398,0,0,0,0,0,0
$GC,659,-0.74,-146.0,84.5,-12.1,112,666,0.00,2.20,0.00,0.000,4,0.000,0.055,2375,3368,3399,0,0,0,0,0,0
$GC,674,-0.74,-146.0,86.3,-12.0,113,679,0.00,2.25,0.00,0.000,6,0.000,0.044,2375,1952,3399,0,0,0,0,0,0
$GC,1002,-0.74,-146.0,124.7,-11.7,143,1006,0.00,2.25,0.00,0.000,4,0.000,0.051,2365,3359,3399,0,0,0,0,0,0
$GC,1146,-0.74,-146.0,142.5,-10.8,156,1153,0.10,2.25,0.00,0.000,6,0.133,0.044,2397,1955,3400,0,0,0,0,0,0
$GC,1474,-0.74,-146.0,171.8,-8.7,187,1478,0.00,2.20,0.00,0.000,4,0.000,0.051,2397,545,3400,0,0,0,0,0,0
$GC,1724,-0.74,-146.0,193.4,-6.8,209,1731,0.00,2.17,0.00,0.000,6,0.000,0.032,2389,1962,3400,0,0,0,0,0,0
$GC,2042,-0.74,-146.0,218.5,-7.8,229,2046,0.00,2.25,0.00,0.000,4,0.000,0.050,2389,535,3400,0,0,0,0,0,0
$GC,2299,-0.74,-146.0,240.5,-8.3,240,2305,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1965,3400,0,0,0,0,0,0
$GC,2620,-0.74,-146.0,265.7,-7.5,256,2624,0.00,2.25,0.00,0.000,4,0.000,0.051,2380,541,3400,0,0,0,0,0,0
$GC,2877,-0.74,-146.0,286.8,-7.6,267,2883,0.12,2.15,0.00,0.000,6,0.163,0.035,2402,1957,3399,0,0,0,0,0,0
$GC,3215,-0.74,-146.0,307.8,-6.1,281,3219,0.00,2.28,0.00,0.000,4,0.000,0.053,2403,546,3398,0,0,0,0,0,0
$GC,3305,-0.74,-146.0,313.8,-6.4,283,3309,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1962,3398,0,0,0,0,0,0
$GC,3631,-0.74,-146.0,334.4,-6.7,291,3635,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,3361,3396,0,0,0,0,0,0
$GC,3709,-0.74,-146.0,341.0,-8.2,292,3715,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1957,3396,0,0,0,0,0,0
$GC,4043,-0.74,-146.0,365.9,-7.0,301,4048,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,535,3394,0,0,0,0,0,0
$GC,4156,-0.74,-146.0,374.6,-7.7,303,4160,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1957,3393,0,0,0,0,0,0
$GC,4496,-0.74,-146.0,396.4,-5.7,312,4500,0.00,2.30,0.00,0.000,4,0.000,0.058,2375,544,3390,0,0,0,0,0,0
$GC,4574,-0.74,-146.0,401.5,-6.5,313,4580,0.12,2.20,0.00,0.000,6,0.160,0.039,2398,1957,3390,0,0,0,0,0,0
$GC,4906,-0.74,-146.0,419.2,-5.7,322,4910,0.00,2.30,0.00,0.000,4,0.000,0.059,2398,548,3388,0,0,0,0,0,0
$GC,5164,-0.74,-146.0,434.7,-5.7,327,5170,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1952,3386,0,0,0,0,0,0
$STATE,5411,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5411,begin apogee
$GC,5418,-0.17,0.0,448.8,5.8,334,5541,0.60,0.00,120.40,0.761,6,0.115,0.000,2583,1952,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,449.9,0.0,337,5683,0.85,2.42,127.12,0.736,4,0.082,0.053,2874,3395,2202,0,0,0,0,0,0
$GC,5815,0.74,146.0,421.1,12.3,343,5819,0.00,2.30,0.00,0.000,6,0.000,0.047,2883,1982,2198,0,0,0,0,0,0
$GC,6128,0.74,146.0,382.6,12.4,351,6132,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,568,2196,0,0,0,0,0,0
$GC,6200,0.74,146.0,373.7,12.1,352,6204,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1992,2194,0,0,0,0,0,0
$GC,6531,0.74,146.0,328.7,13.9,360,6535,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3388,2193,0,0,0,0,0,0
$GC,6620,0.74,146.0,315.8,14.5,362,6624,0.00,2.25,0.00,0.000,6,0.000,0.046,2896,1975,2192,0,0,0,0,0,0
$GC,6941,0.74,146.0,272.9,14.1,374,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1975,2191,0,0,0,0,0,0
$GC,7250,0.74,146.0,236.9,10.4,389,7254,0.00,2.25,0.00,0.000,4,0.000,0.060,2907,571,2190,0,0,0,0,0,0
$GC,7322,0.74,146.0,230.1,10.6,392,7326,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1993,2189,0,0,0,0,0,0
$GC,7641,0.74,146.0,194.7,11.8,409,7645,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,3389,2189,0,0,0,0,0,0
$GC,7738,0.74,146.0,183.0,11.4,417,7745,0.10,2.25,0.00,0.000,6,0.120,0.046,2880,1981,2188,0,0,0,0,0,0
$GC,8066,0.76,166.5,156.0,8.2,448,8090,0.00,2.28,16.25,0.561,4,0.000,0.059,2889,576,2119,0,0,0,0,0,0
$GC,8149,0.78,177.2,149.3,8.6,455,8164,0.00,2.17,10.68,0.523,6,0.000,0.039,2889,1988,2077,0,0,0,0,0,0
$GC,8493,0.78,177.2,117.2,10.1,487,8497,0.00,2.20,0.00,0.000,4,0.000,0.053,2889,3386,2073,0,0,0,0,0,0
$GC,8620,0.78,177.2,102.0,12.0,498,8624,0.00,2.22,0.00,0.000,6,0.000,0.048,2897,1976,2073,0,0,0,0,0,0
$GC,8947,0.78,181.4,71.3,8.9,536,8960,0.00,2.28,4.62,0.374,4,0.000,0.054,2897,3383,2060,0,0,0,0,0,0
$GC,9012,0.78,181.4,65.0,10.4,547,9018,0.00,2.22,0.00,0.000,6,0.000,0.046,2905,1973,2060,0,0,0,0,0,0
$GC,9344,0.82,214.6,42.2,7.7,608,9380,0.00,2.22,29.70,0.469,4,0.000,0.056,2914,562,1924,0,0,0,0,0,0
$GC,9485,0.85,240.0,31.7,8.0,633,9516,0.00,2.20,22.77,0.450,6,0.000,0.038,2913,1983,1820,0,0,0,0,0,0
$GC,9678,0.85,240.6,15.3,9.0,668,9686,0.00,2.22,0.00,0.000,4,0.000,0.052,2914,3383,1820,0,0,0,0,0,0
$GC,9721,0.85,240.6,11.2,9.8,675,9729,0.00,2.25,0.00,0.000,6,0.000,0.044,2922,1982,1819,0,0,0,0,0,0
$STATE,9803,end climb,SURFACE_DEPTH_REACHED
$STATE,9803,begin surface coast
$FINISH,1.0,1.023074
$STATE,9838,end surface coast,CONTROL_FINISHED_OK
$STATE,9838,begin surface
$SM_CCo,9856,30.80,0.425,0,0,1575,300.24
$SM_GC,1.19,0.00,0.00,30.80,0.000,0.000,0.425,36,1973,1575,-8.14,0.45,300.24
$IRIDIUM_FIX,2057.14,-15744.48,120902,161656
$TT8_MAMPS,0.028379
$HUMID,65.90
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,42.241
$10V_AH,10.3,46.521
$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,19.075,93.750,331.550,30.800,0.000,96.779,158.619,372.841,18.750,0.000,14.765,1287.634,5764.681,409.581,2397.148,911.041,0.000,1274.233,0.000,2355.094,0.000,115.743,0.000
$DEVICE_MAMPS,229.333,60.593,760.864,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.287,397.328,1365.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,38017,696
$CAP_FILE_SIZE,115354,0
$CFSIZE,260165632,230735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180613,215012,2105.741,-15743.987,15,1.2,15,9.8