version: 66.06
glider: 523
mission: 4
dive: 530
start: 6 21 113 16 53 22
data:
$ID,523
$MISSION,4
$DIVE,530
$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,-46558.367
$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,22
$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
$GPS1,164335,2106.792,-15802.695,27,0.9,27,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.8
$GPS2,165305,2106.805,-15802.792,14,1.1,14,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,14.1,3099,-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,-75.88,0.000,2,0.000,0.000,37,1971,3355,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.9,12,113,9.52,2.25,-0.93,0.000,4,0.222,0.063,2385,3362,3397,0,0,0,0,0,0
$GC,169,-0.74,-146.0,18.1,-15.5,24,176,0.00,2.22,0.00,0.000,6,0.000,0.042,2385,1959,3398,0,0,0,0,0,0
$GC,338,-0.74,-146.0,44.9,-15.8,55,344,0.00,2.25,0.00,0.000,4,0.000,0.055,2385,542,3398,0,0,0,0,0,0
$GC,418,-0.74,-146.0,58.1,-14.8,69,424,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1965,3399,0,0,0,0,0,0
$GC,754,-0.74,-146.0,97.5,-11.3,117,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1965,3400,0,0,0,0,0,0
$GC,1072,-0.74,-146.0,132.2,-9.8,147,1076,0.00,2.33,0.00,0.000,4,0.000,0.052,2375,536,3400,0,0,0,0,0,0
$GC,1279,-0.74,-146.0,153.7,-10.7,165,1284,0.12,2.20,0.00,0.000,6,0.167,0.035,2397,1970,3401,0,0,0,0,0,0
$GC,1607,-0.74,-146.0,181.2,-7.4,195,1611,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,3360,3402,0,0,0,0,0,0
$GC,1676,-0.74,-146.0,187.0,-8.3,201,1680,0.00,2.20,0.00,0.000,6,0.000,0.041,2389,1950,3402,0,0,0,0,0,0
$GC,1997,-0.74,-146.0,213.4,-8.2,223,2001,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,546,3402,0,0,0,0,0,0
$GC,2136,-0.74,-146.0,226.1,-9.2,229,2140,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1964,3402,0,0,0,0,0,0
$GC,2455,-0.74,-146.0,248.3,-6.6,244,2459,0.00,2.30,0.00,0.000,4,0.000,0.052,2379,544,3402,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,270.7,-8.5,255,2720,0.12,2.15,0.00,0.000,6,0.166,0.035,2401,1972,3402,0,0,0,0,0,0
$GC,3031,-0.74,-146.0,289.3,-5.7,271,3035,0.00,2.28,0.00,0.000,4,0.000,0.053,2402,547,3402,0,0,0,0,0,0
$GC,3255,-0.74,-146.0,304.3,-5.8,280,3259,0.00,2.15,0.00,0.000,6,0.000,0.036,2394,1962,3402,0,0,0,0,0,0
$GC,3576,-0.74,-146.0,322.5,-5.5,288,3580,0.00,2.25,0.00,0.000,4,0.000,0.054,2394,550,3400,0,0,0,0,0,0
$GC,3632,-0.74,-146.0,325.7,-6.3,289,3636,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1956,3401,0,0,0,0,0,0
$GC,3982,-0.74,-146.0,344.9,-5.6,298,3987,0.00,2.22,0.00,0.000,4,0.000,0.057,2374,3362,3398,0,0,0,0,0,0
$GC,4108,-0.74,-146.0,353.6,-7.6,300,4112,0.00,2.22,0.00,0.000,6,0.000,0.042,2374,1952,3398,0,0,0,0,0,0
$GC,4439,-0.74,-146.0,379.5,-7.7,308,4444,0.00,2.28,0.00,0.000,4,0.000,0.059,2374,537,3395,0,0,0,0,0,0
$GC,4581,-0.74,-146.0,389.5,-6.1,311,4586,0.15,2.17,0.00,0.000,6,0.154,0.038,2404,1955,3395,0,0,0,0,0,0
$GC,4904,-0.74,-146.0,404.3,-4.9,319,4908,0.00,2.22,0.00,0.000,4,0.000,0.058,2395,3365,3393,0,0,0,0,0,0
$GC,4932,-0.74,-146.0,406.2,-6.2,319,4936,0.00,2.22,0.00,0.000,6,0.000,0.046,2396,1951,3393,0,0,0,0,0,0
$GC,5264,-0.74,-146.0,426.9,-6.1,327,5268,0.00,2.25,0.00,0.000,4,0.000,0.063,2395,548,3390,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5415,-0.17,0.0,437.7,8.0,330,5540,0.60,0.00,121.50,0.751,6,0.118,0.000,2580,1981,2799,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,439.5,0.0,333,5682,0.85,2.38,126.80,0.727,4,0.077,0.058,2873,3378,2203,0,0,0,0,0,0
$GC,5716,0.74,146.0,422.0,14.9,337,5720,0.00,2.28,0.00,0.000,6,0.000,0.046,2882,1982,2201,0,0,0,0,0,0
$GC,6034,0.74,146.0,378.0,13.0,345,6039,0.00,2.28,0.00,0.000,4,0.000,0.059,2883,3386,2196,0,0,0,0,0,0
$GC,6101,0.74,146.0,369.1,12.9,346,6105,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1976,2195,0,0,0,0,0,0
$GC,6444,0.74,146.0,329.2,11.0,355,6448,0.00,2.30,0.00,0.000,4,0.000,0.059,2893,3388,2194,0,0,0,0,0,0
$GC,6539,0.74,146.0,317.5,12.9,357,6543,0.00,2.25,0.00,0.000,6,0.000,0.048,2901,1971,2193,0,0,0,0,0,0
$GC,6860,0.74,146.0,278.9,12.2,369,6864,0.00,2.30,0.00,0.000,4,0.000,0.061,2902,3383,2192,0,0,0,0,0,0
$GC,6947,0.74,146.0,267.3,13.8,373,6952,0.12,2.25,0.00,0.000,6,0.152,0.051,2876,1973,2191,0,0,0,0,0,0
$GC,7274,0.74,146.0,237.7,9.1,389,7278,0.00,2.22,0.00,0.000,4,0.000,0.059,2885,568,2189,0,0,0,0,0,0
$GC,7337,0.74,146.0,230.9,11.3,392,7340,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1983,2189,0,0,0,0,0,0
$GC,7657,0.74,146.0,193.2,10.9,410,7661,0.00,2.20,0.00,0.000,4,0.000,0.051,2885,3388,2188,0,0,0,0,0,0
$GC,7753,0.74,146.0,182.0,10.3,418,7761,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1980,2187,0,0,0,0,0,0
$GC,8081,0.74,151.1,151.9,8.8,449,8085,0.00,2.25,0.00,0.000,4,0.000,0.051,2895,3388,2187,0,0,0,0,0,0
$GC,8132,0.74,151.1,146.4,11.8,453,8136,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1966,2187,0,0,0,0,0,0
$GC,8459,0.74,151.1,113.9,9.8,483,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1966,2187,0,0,0,0,0,0
$GC,8779,0.74,151.1,83.4,9.6,513,8783,0.00,2.20,0.00,0.000,4,0.000,0.056,2914,566,2187,0,0,0,0,0,0
$GC,8858,0.75,155.3,76.3,8.9,523,8872,0.12,2.17,6.57,0.431,6,0.130,0.036,2878,1991,2166,0,0,0,0,0,0
$GC,9203,0.84,227.7,55.0,6.0,585,9273,0.00,2.25,61.85,0.489,4,0.000,0.051,2878,3386,1870,0,0,0,0,0,0
$GC,9332,0.91,284.3,47.2,6.7,607,9391,0.15,2.25,49.03,0.471,6,0.061,0.045,2976,1980,1640,0,0,0,0,0,0
$STATE,9681,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FINISH,0.6,0.998712
$STATE,9703,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9722,9.10,0.389,0,0,1576,300.24
$SM_GC,1.06,0.00,0.00,9.10,0.000,0.000,0.389,28,1975,1576,-8.16,0.51,300.24
$IRIDIUM_FIX,2054.83,-15807.20,150902,161624
$TT8_MAMPS,0.028379
$HUMID,67.32
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,4
$24V_AH,24.4,45.014
$10V_AH,10.3,49.000
$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,19.350,93.875,365.750,9.100,0.000,48.402,70.568,247.944,19.000,0.000,14.869,1243.213,5702.309,389.946,2307.658,654.757,0.000,1234.369,0.000,2263.104,0.000,112.615,0.000
$DEVICE_MAMPS,221.663,62.894,750.893,388.869,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,458.209,386.657,1301.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38134,676
$CAP_FILE_SIZE,112360,0
$CFSIZE,260165632,229535744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210613,193629,2108.177,-15802.418,17,0.9,17,9.8