version: 66.06
glider: 523
mission: 4
dive: 533
start: 6 22 113 1 33 16
data:
$ID,523
$MISSION,4
$DIVE,533
$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,-46612.672
$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,28
$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
$GPS1,012655,2109.047,-15801.378,36,1.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.6
$GPS2,013300,2109.098,-15801.481,19,1.2,19,9.8
$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,90.9,32646,-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,-79.80,0.000,6,0.000,0.000,49,1962,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-4.9,13,117,9.55,0.00,0.00,0.000,6,0.225,0.000,2392,1962,3397,0,0,0,0,0,0
$GC,278,-0.74,-146.0,34.8,-13.6,45,283,0.00,2.30,0.00,0.000,4,0.000,0.057,2392,542,3398,0,0,0,0,0,0
$GC,336,-0.74,-146.0,44.3,-16.0,55,341,0.00,2.20,0.00,0.000,6,0.000,0.036,2384,1965,3398,0,0,0,0,0,0
$GC,671,-0.74,-146.0,89.0,-10.6,110,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1965,3399,0,0,0,0,0,0
$GC,990,-0.74,-146.0,122.4,-9.4,140,994,0.00,2.28,0.00,0.000,4,0.000,0.053,2384,539,3401,0,0,0,0,0,0
$GC,1244,-0.74,-146.0,150.9,-11.1,162,1251,0.00,2.20,0.00,0.000,6,0.000,0.035,2375,1964,3401,0,0,0,0,0,0
$GC,1572,-0.74,-146.0,180.5,-8.8,193,1576,0.00,2.25,0.00,0.000,4,0.000,0.058,2365,3362,3401,0,0,0,0,0,0
$GC,1625,-0.74,-146.0,185.0,-8.5,197,1630,0.12,2.20,0.00,0.000,6,0.150,0.044,2397,1959,3401,0,0,0,0,0,0
$GC,1962,-0.74,-146.0,214.3,-8.0,221,1966,0.00,2.25,0.00,0.000,4,0.000,0.054,2397,545,3401,0,0,0,0,0,0
$GC,2118,-0.74,-146.0,229.1,-7.7,228,2122,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1969,3401,0,0,0,0,0,0
$GC,2443,-0.74,-146.0,256.2,-9.0,244,2447,0.00,2.30,0.00,0.000,4,0.000,0.052,2390,547,3401,0,0,0,0,0,0
$GC,2651,-0.74,-146.0,274.4,-9.4,253,2655,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1970,3401,0,0,0,0,0,0
$GC,2975,-0.74,-146.0,297.3,-6.4,269,2979,0.00,2.25,0.00,0.000,4,0.000,0.058,2370,3368,3401,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,299.6,-7.7,270,3007,0.12,2.22,0.00,0.000,6,0.151,0.042,2402,1946,3401,0,0,0,0,0,0
$GC,3314,-0.74,-146.0,319.4,-5.7,278,3318,0.00,2.22,0.00,0.000,4,0.000,0.056,2403,546,3401,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,323.6,-6.8,279,3379,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1961,3400,0,0,0,0,0,0
$GC,3726,-0.74,-146.0,345.2,-6.6,288,3730,0.00,2.28,0.00,0.000,4,0.000,0.055,2395,544,3399,0,0,0,0,0,0
$GC,3781,-0.74,-146.0,349.7,-7.9,289,3785,0.00,2.15,0.00,0.000,6,0.000,0.037,2385,1956,3398,0,0,0,0,0,0
$GC,4132,-0.74,-146.0,371.5,-6.2,298,4136,0.00,2.28,0.00,0.000,4,0.000,0.058,2385,544,3397,0,0,0,0,0,0
$GC,4357,-0.74,-146.0,386.9,-6.5,303,4361,0.00,2.17,0.00,0.000,6,0.000,0.038,2376,1962,3396,0,0,0,0,0,0
$GC,4676,-0.74,-146.0,403.4,-5.3,311,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3394,0,0,0,0,0,0
$GC,5001,-0.74,-146.0,425.4,-7.0,319,5005,0.00,2.30,0.00,0.000,4,0.000,0.060,2376,544,3391,0,0,0,0,0,0
$GC,5176,-0.74,-146.0,437.6,-6.5,323,5180,0.12,2.20,0.00,0.000,6,0.156,0.040,2400,1957,3391,0,0,0,0,0,0
$STATE,5416,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5416,begin apogee
$GC,5422,-0.17,0.0,449.5,4.5,329,5547,0.57,0.00,121.72,0.758,6,0.114,0.000,2586,1958,2800,0,0,0,0,0,0
$STATE,5548,end apogee,CONTROL_FINISHED_OK
$STATE,5548,begin climb
$GC,5551,0.74,146.0,446.9,0.0,332,5688,0.82,2.38,126.90,0.732,4,0.074,0.058,2874,3381,2202,0,0,0,0,0,0
$GC,5722,0.74,146.0,429.3,11.6,336,5726,0.00,2.30,0.00,0.000,6,0.000,0.045,2884,1983,2200,0,0,0,0,0,0
$GC,6041,0.74,146.0,392.0,12.5,344,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1983,2196,0,0,0,0,0,0
$GC,6366,0.74,146.0,356.7,10.4,352,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1983,2194,0,0,0,0,0,0
$GC,6691,0.74,146.0,319.1,10.6,360,6695,0.00,2.28,0.00,0.000,4,0.000,0.059,2884,3385,2192,0,0,0,0,0,0
$GC,6803,0.74,146.0,305.1,13.3,362,6807,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1971,2191,0,0,0,0,0,0
$GC,7134,0.74,146.0,266.7,10.8,377,7138,0.00,2.30,0.00,0.000,4,0.000,0.060,2892,3386,2191,0,0,0,0,0,0
$GC,7168,0.74,146.0,262.6,12.2,378,7173,0.00,2.22,0.00,0.000,6,0.000,0.049,2900,1980,2190,0,0,0,0,0,0
$GC,7484,0.74,146.0,226.4,10.1,394,7488,0.00,2.28,0.00,0.000,4,0.000,0.058,2911,558,2190,0,0,0,0,0,0
$GC,7533,0.74,146.0,221.1,10.8,396,7538,0.12,2.20,0.00,0.000,6,0.137,0.038,2876,1985,2189,0,0,0,0,0,0
$GC,7853,0.76,163.2,195.4,8.3,413,7877,0.00,2.25,13.73,0.578,4,0.000,0.051,2876,3389,2132,0,0,0,0,0,0
$GC,8012,0.80,196.5,182.3,7.6,427,8048,0.00,2.20,29.67,0.590,6,0.000,0.039,2885,1969,1997,0,0,0,0,0,0
$GC,8368,0.82,209.7,152.8,8.5,460,8385,0.00,2.25,12.23,0.530,4,0.000,0.048,2884,3387,1945,0,0,0,0,0,0
$GC,8411,0.82,214.6,149.1,8.8,463,8423,0.00,2.20,5.53,0.439,6,0.000,0.039,2893,1981,1926,0,0,0,0,0,0
$GC,8744,0.82,214.6,119.9,9.2,494,8748,0.00,2.28,0.00,0.000,4,0.000,0.050,2893,3394,1925,0,0,0,0,0,0
$GC,8807,0.82,214.6,113.5,10.4,499,8811,0.00,2.22,0.00,0.000,6,0.000,0.040,2898,1974,1925,0,0,0,0,0,0
$GC,9132,0.82,214.6,78.9,11.1,530,9139,0.00,2.25,0.00,0.000,4,0.000,0.057,2908,576,1924,0,0,0,0,0,0
$GC,9198,0.82,214.6,72.0,10.4,541,9204,0.00,2.17,0.00,0.000,6,0.000,0.036,2908,1983,1924,0,0,0,0,0,0
$GC,9529,0.86,250.0,45.2,7.6,602,9572,0.00,2.25,32.15,0.469,4,0.000,0.051,2908,3387,1778,0,0,0,0,0,0
$GC,9770,0.89,269.1,24.6,8.2,645,9797,0.00,2.25,17.70,0.433,6,0.000,0.047,2915,1987,1701,0,0,0,0,0,0
$GC,9956,0.92,291.5,8.5,8.1,679,9982,0.00,2.28,20.58,0.424,4,0.000,0.054,2924,563,1609,0,0,0,0,0,0
$GC,10011,0.94,308.1,3.8,8.3,688,10020,0.00,2.22,4.20,0.309,2,0.000,0.037,2924,1974,1594,0,0,0,0,0,0
$STATE,10021,end climb,SURFACE_DEPTH_REACHED
$STATE,10021,begin surface coast
$FINISH,0.8,1.023149
$STATE,10056,end surface coast,CONTROL_FINISHED_OK
$STATE,10056,begin surface
$SM_CCo,10074,3.20,0.266,0,0,1575,300.24
$SM_GC,2.05,0.00,0.00,3.20,0.000,0.000,0.266,35,1978,1575,-8.14,0.59,300.24
$IRIDIUM_FIX,2054.83,-15823.92,150902,222209
$TT8_MAMPS,0.028379
$HUMID,65.16
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,24.4,45.285
$10V_AH,10.3,49.305
$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,18.775,89.575,384.400,3.200,0.000,25.979,42.090,154.394,19.250,0.000,19.447,1260.360,5958.170,402.694,2316.688,500.838,0.000,1253.198,0.000,2267.349,0.000,117.675,0.000
$DEVICE_MAMPS,225.498,59.826,757.796,266.149,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,471.160,402.650,1365.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38024,695
$CAP_FILE_SIZE,108585,0
$CFSIZE,260165632,229384192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,042211,2109.276,-15800.784,18,1.1,18,9.8