version: 66.06
glider: 523
mission: 4
dive: 534
start: 6 22 113 4 28 49
data:
$ID,523
$MISSION,4
$DIVE,534
$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,-46641.445
$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,27
$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
$GPS1,042211,2109.276,-15800.784,18,1.1,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.0
$GPS2,042833,2109.262,-15800.901,27,1.1,27,9.8
$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,91.8,31723,-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,-76.15,0.000,2,0.000,0.000,35,1978,3354,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.8,12,112,9.62,0.00,-0.93,0.000,6,0.225,0.000,2391,1979,3397,0,0,0,0,0,0
$GC,267,-0.74,-146.0,35.1,-13.2,44,275,0.00,2.33,0.00,0.000,4,0.000,0.054,2391,549,3399,0,0,0,0,0,0
$GC,364,-0.74,-146.0,50.0,-15.2,61,370,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,1961,3399,0,0,0,0,0,0
$GC,703,-0.74,-146.0,97.0,-11.3,110,707,0.00,2.25,0.00,0.000,4,0.000,0.052,2383,545,3400,0,0,0,0,0,0
$GC,905,-0.74,-146.0,120.1,-10.2,128,910,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1965,3401,0,0,0,0,0,0
$GC,1239,-0.74,-146.0,150.5,-9.4,159,1243,0.00,2.25,0.00,0.000,4,0.000,0.053,2374,545,3402,0,0,0,0,0,0
$GC,1389,-0.74,-146.0,166.2,-9.4,172,1397,0.10,2.17,0.00,0.000,6,0.141,0.035,2396,1952,3401,0,0,0,0,0,0
$GC,1717,-0.74,-146.0,194.9,-8.8,203,1724,0.00,2.25,0.00,0.000,4,0.000,0.052,2396,534,3402,0,0,0,0,0,0
$GC,1745,-0.74,-146.0,197.7,-8.8,205,1753,0.00,2.22,0.00,0.000,6,0.000,0.035,2388,1968,3402,0,0,0,0,0,0
$GC,2065,-0.74,-146.0,222.8,-7.4,222,2069,0.00,2.30,0.00,0.000,4,0.000,0.052,2389,545,3402,0,0,0,0,0,0
$GC,2159,-0.74,-146.0,232.4,-9.2,226,2163,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1961,3403,0,0,0,0,0,0
$GC,2479,-0.74,-146.0,253.1,-5.5,241,2483,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,539,3402,0,0,0,0,0,0
$GC,2737,-0.74,-146.0,272.3,-9.8,252,2743,0.12,2.15,0.00,0.000,6,0.166,0.036,2402,1959,3403,0,0,0,0,0,0
$GC,3056,-0.74,-146.0,295.0,-6.1,268,3060,0.00,2.33,0.00,0.000,4,0.000,0.054,2402,537,3402,0,0,0,0,0,0
$GC,3314,-0.74,-146.0,311.9,-7.0,275,3319,0.00,2.20,0.00,0.000,6,0.000,0.038,2394,1962,3403,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,332.0,-5.8,284,3650,0.00,2.30,0.00,0.000,4,0.000,0.054,2394,545,3402,0,0,0,0,0,0
$GC,3708,-0.74,-146.0,335.4,-5.1,285,3712,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1966,3401,0,0,0,0,0,0
$GC,4056,-0.74,-146.0,354.9,-5.5,294,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1966,3400,0,0,0,0,0,0
$GC,4381,-0.74,-146.0,379.8,-8.3,302,4386,0.00,2.33,0.00,0.000,4,0.000,0.058,2384,542,3397,0,0,0,0,0,0
$GC,4549,-0.74,-146.0,394.1,-7.6,305,4553,0.00,2.20,0.00,0.000,6,0.000,0.039,2375,1957,3396,0,0,0,0,0,0
$GC,4886,-0.74,-146.0,412.0,-4.8,314,4890,0.00,2.28,0.00,0.000,4,0.000,0.061,2365,3371,3395,0,0,0,0,0,0
$GC,4919,-0.74,-146.0,413.3,-4.1,314,4925,0.12,2.25,0.00,0.000,6,0.146,0.044,2398,1956,3395,0,0,0,0,0,0
$GC,5251,-0.74,-146.0,428.7,-5.2,323,5255,0.00,2.33,0.00,0.000,4,0.000,0.063,2398,545,3392,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5415,-0.17,0.0,439.5,6.6,326,5539,0.57,0.00,121.62,0.754,6,0.119,0.000,2578,1980,2799,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5544,0.74,146.0,441.3,0.0,329,5681,0.88,2.35,126.70,0.729,4,0.078,0.058,2878,3387,2202,0,0,0,0,0,0
$GC,5751,0.74,146.0,419.2,14.4,333,5756,0.00,2.33,0.00,0.000,6,0.000,0.046,2888,1973,2199,0,0,0,0,0,0
$GC,6082,0.74,146.0,373.8,14.5,342,6086,0.00,2.28,0.00,0.000,4,0.000,0.057,2888,3386,2196,0,0,0,0,0,0
$GC,6123,0.74,146.0,368.3,14.4,343,6127,0.00,2.28,0.00,0.000,6,0.000,0.046,2897,1974,2195,0,0,0,0,0,0
$GC,6447,0.74,146.0,324.3,13.4,351,6451,0.00,2.30,0.00,0.000,4,0.000,0.067,2908,570,2194,0,0,0,0,0,0
$GC,6491,0.74,146.0,318.3,13.6,352,6496,0.12,2.22,0.00,0.000,6,0.152,0.041,2875,1988,2194,0,0,0,0,0,0
$GC,6811,0.74,146.0,283.0,12.1,363,6815,0.00,2.20,0.00,0.000,4,0.000,0.053,2875,3386,2192,0,0,0,0,0,0
$GC,6934,0.74,146.0,267.2,12.3,368,6938,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1974,2191,0,0,0,0,0,0
$GC,7250,0.74,146.0,235.6,9.5,383,7254,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,570,2190,0,0,0,0,0,0
$GC,7311,0.74,146.0,229.3,10.7,385,7317,0.00,2.20,0.00,0.000,6,0.000,0.042,2893,1983,2189,0,0,0,0,0,0
$GC,7631,0.74,146.0,195.5,10.7,402,7635,0.00,2.20,0.00,0.000,4,0.000,0.051,2893,3394,2189,0,0,0,0,0,0
$GC,7782,0.74,146.0,178.4,11.9,415,7786,0.00,2.25,0.00,0.000,6,0.000,0.041,2902,1967,2188,0,0,0,0,0,0
$GC,8108,0.74,146.0,140.7,10.9,445,8112,0.00,2.25,0.00,0.000,4,0.000,0.050,2902,3389,2188,0,0,0,0,0,0
$GC,8195,0.74,146.0,130.1,11.2,452,8202,0.10,2.22,0.00,0.000,6,0.120,0.039,2876,1980,2188,0,0,0,0,0,0
$GC,8522,0.75,157.8,99.8,8.5,483,8532,0.00,0.00,8.88,0.476,6,0.000,0.000,2877,1980,2155,0,0,0,0,0,0
$GC,8848,0.76,168.1,76.0,8.6,518,8867,0.00,2.30,10.38,0.465,4,0.000,0.058,2876,3390,2113,0,0,0,0,0,0
$GC,8925,0.77,172.9,69.4,8.8,531,8938,0.00,2.25,5.80,0.407,6,0.000,0.047,2883,1979,2094,0,0,0,0,0,0
$GC,9267,0.77,172.9,41.9,9.6,593,9272,0.00,2.28,0.00,0.000,4,0.000,0.063,2891,569,2092,0,0,0,0,0,0
$GC,9303,0.78,177.4,38.7,8.9,599,9316,0.00,2.17,5.68,0.380,6,0.000,0.038,2891,1981,2075,0,0,0,0,0,0
$GC,9638,0.81,205.7,16.1,7.9,661,9671,0.00,2.25,25.23,0.444,4,0.000,0.051,2891,3390,1959,0,0,0,0,0,0
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,0.6,1.023241
$STATE,9852,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9873,43.08,0.426,0,0,1574,300.24
$SM_GC,1.34,0.00,0.00,43.08,0.000,0.000,0.426,50,1949,1574,-8.10,-0.23,300.24
$IRIDIUM_FIX,2106.38,-15759.46,160902,010150
$TT8_MAMPS,0.028379
$HUMID,65.27
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,45.365
$10V_AH,10.2,49.408
$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,18.950,94.475,304.275,43.075,0.000,30.755,47.667,156.422,18.250,0.000,28.144,1291.003,5689.812,402.691,2398.380,512.516,0.000,1242.142,0.000,2339.827,0.000,114.592,0.000
$DEVICE_MAMPS,224.731,67.496,753.961,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.969,402.866,1394.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38049,700
$CAP_FILE_SIZE,107898,0
$CFSIZE,260165632,229330944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,071500,2109.495,-15759.858,15,1.5,15,9.8