version: 66.06
glider: 523
mission: 4
dive: 537
start: 6 22 113 13 6 11
data:
$ID,523
$MISSION,4
$DIVE,537
$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,-46697.605
$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,19
$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
$GPS1,125949,2110.046,-15759.436,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.4
$GPS2,130554,2110.083,-15759.599,16,1.4,16,9.8
$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,95.5,29887,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-78.18,0.000,6,0.000,0.000,28,1978,3394,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.7,-6.0,13,120,9.62,2.25,0.00,0.000,4,0.222,0.047,2386,3372,3395,0,0,0,0,0,0
$GC,135,-0.74,-146.0,14.3,-31.7,17,143,0.00,2.30,0.00,0.000,6,0.000,0.043,2386,1952,3396,0,0,0,0,0,0
$GC,302,-0.74,-146.0,43.0,-13.8,48,310,0.00,2.33,0.00,0.000,4,0.000,0.062,2386,545,3397,0,0,0,0,0,0
$GC,378,-0.74,-146.0,54.8,-15.6,61,384,0.00,2.20,0.00,0.000,6,0.000,0.037,2377,1965,3397,0,0,0,0,0,0
$GC,708,-0.74,-146.0,96.0,-9.8,108,712,0.00,2.30,0.00,0.000,4,0.000,0.057,2377,538,3398,0,0,0,0,0,0
$GC,868,-0.74,-146.0,116.3,-13.6,122,872,0.12,2.17,0.00,0.000,6,0.166,0.036,2398,1968,3399,0,0,0,0,0,0
$GC,1195,-0.74,-146.0,153.3,-10.2,152,1199,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,3359,3399,0,0,0,0,0,0
$GC,1226,-0.74,-146.0,156.7,-10.2,154,1231,0.00,2.25,0.00,0.000,6,0.000,0.044,2390,1949,3400,0,0,0,0,0,0
$GC,1554,-0.74,-146.0,184.1,-6.9,184,1558,0.00,2.25,0.00,0.000,4,0.000,0.058,2390,539,3400,0,0,0,0,0,0
$GC,1807,-0.74,-146.0,204.5,-8.5,204,1813,0.00,2.17,0.00,0.000,6,0.000,0.036,2380,1961,3400,0,0,0,0,0,0
$GC,2125,-0.74,-146.0,234.8,-10.6,220,2130,0.00,2.28,0.00,0.000,4,0.000,0.053,2380,546,3400,0,0,0,0,0,0
$GC,2153,-0.74,-146.0,238.1,-10.8,221,2157,0.12,2.15,0.00,0.000,6,0.163,0.035,2403,1956,3400,0,0,0,0,0,0
$GC,2475,-0.74,-146.0,262.2,-5.6,237,2479,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,545,3400,0,0,0,0,0,0
$GC,2593,-0.74,-146.0,267.7,-4.3,242,2597,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1962,3400,0,0,0,0,0,0
$GC,2911,-0.74,-146.0,280.5,-4.0,257,2915,0.00,2.28,0.00,0.000,4,0.000,0.054,2395,547,3400,0,0,0,0,0,0
$GC,3007,-0.74,-146.0,285.7,-5.5,261,3011,0.00,2.15,0.00,0.000,6,0.000,0.037,2386,1965,3400,0,0,0,0,0,0
$GC,3337,-0.74,-146.0,306.3,-6.5,275,3341,0.00,2.33,0.00,0.000,4,0.000,0.056,2385,548,3400,0,0,0,0,0,0
$GC,3506,-0.74,-146.0,317.2,-5.3,278,3511,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1956,3400,0,0,0,0,0,0
$GC,3837,-0.74,-146.0,333.9,-5.3,287,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3398,0,0,0,0,0,0
$GC,4163,-0.74,-146.0,352.4,-6.6,295,4167,0.00,2.30,0.00,0.000,4,0.000,0.058,2376,537,3396,0,0,0,0,0,0
$GC,4236,-0.74,-146.0,358.5,-7.0,296,4241,0.12,2.20,0.00,0.000,6,0.161,0.039,2399,1961,3396,0,0,0,0,0,0
$GC,4575,-0.74,-146.0,374.6,-4.8,305,4579,0.00,2.33,0.00,0.000,4,0.000,0.058,2399,544,3394,0,0,0,0,0,0
$GC,4712,-0.74,-146.0,383.6,-5.9,308,4716,0.00,2.20,0.00,0.000,6,0.000,0.040,2391,1961,3392,0,0,0,0,0,0
$GC,5035,-0.74,-146.0,406.2,-7.8,316,5039,0.00,2.33,0.00,0.000,4,0.000,0.059,2391,545,3391,0,0,0,0,0,0
$GC,5108,-0.74,-146.0,412.4,-8.1,317,5112,0.00,2.20,0.00,0.000,6,0.000,0.041,2382,1954,3390,0,0,0,0,0,0
$STATE,5437,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5437,begin apogee
$GC,5444,-0.17,0.0,429.4,3.7,325,5568,0.62,0.00,121.75,0.746,6,0.118,0.000,2580,1954,2800,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5572,0.74,146.0,427.7,0.0,328,5710,0.85,2.38,127.20,0.719,4,0.081,0.054,2870,3387,2202,0,0,0,0,0,0
$GC,5772,0.74,146.0,403.1,14.1,332,5776,0.00,2.30,0.00,0.000,6,0.000,0.046,2880,1980,2200,0,0,0,0,0,0
$GC,6109,0.74,146.0,365.5,9.6,341,6113,0.00,2.30,0.00,0.000,4,0.000,0.055,2880,3389,2196,0,0,0,0,0,0
$GC,6136,0.74,146.0,362.9,9.6,341,6140,0.00,2.25,0.00,0.000,6,0.000,0.046,2890,1975,2195,0,0,0,0,0,0
$GC,6473,0.74,146.0,328.7,11.1,350,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1975,2194,0,0,0,0,0,0
$GC,6779,0.74,146.0,292.8,11.6,358,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1976,2192,0,0,0,0,0,0
$GC,7087,0.74,146.0,258.0,10.2,373,7091,0.00,2.30,0.00,0.000,4,0.000,0.056,2890,3396,2191,0,0,0,0,0,0
$GC,7165,0.74,146.0,249.8,10.4,376,7171,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1980,2190,0,0,0,0,0,0
$GC,7481,0.74,146.0,220.3,10.4,392,7485,0.00,2.30,0.00,0.000,4,0.000,0.058,2899,3391,2189,0,0,0,0,0,0
$GC,7588,0.74,146.0,209.1,10.5,397,7592,0.00,2.25,0.00,0.000,6,0.000,0.049,2907,1978,2189,0,0,0,0,0,0
$GC,7917,0.76,168.2,180.0,8.1,423,7940,0.00,2.28,18.00,0.576,4,0.000,0.054,2907,3388,2113,0,0,0,0,0,0
$GC,7967,0.76,168.2,174.3,10.5,427,7975,0.08,2.28,0.00,0.000,6,0.123,0.046,2890,1983,2111,0,0,0,0,0,0
$GC,8295,0.76,168.2,141.4,9.1,458,8299,0.00,2.25,0.00,0.000,4,0.000,0.057,2889,3387,2110,0,0,0,0,0,0
$GC,8324,0.76,168.2,138.6,9.1,460,8328,0.00,2.22,0.00,0.000,6,0.000,0.046,2896,1980,2109,0,0,0,0,0,0
$GC,8653,0.76,168.2,109.7,9.6,490,8657,0.00,2.25,0.00,0.000,4,0.000,0.057,2906,566,2110,0,0,0,0,0,0
$GC,8685,0.76,168.2,106.3,9.2,492,8693,0.00,2.22,0.00,0.000,6,0.000,0.038,2907,1987,2109,0,0,0,0,0,0
$GC,9012,0.83,223.5,81.4,6.7,523,9070,0.00,2.28,47.70,0.501,4,0.000,0.053,2907,3387,1887,0,0,0,0,0,0
$GC,9242,0.84,226.8,62.2,8.9,562,9254,0.00,2.28,4.22,0.340,6,0.000,0.044,2906,1975,1874,0,0,0,0,0,0
$GC,9580,0.84,226.8,33.1,9.8,624,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1975,1874,0,0,0,0,0,0
$STATE,9899,end climb,SURFACE_DEPTH_REACHED
$STATE,9899,begin surface coast
$FINISH,0.7,1.023191
$STATE,9927,end surface coast,CONTROL_FINISHED_OK
$STATE,9930,begin surface
$SM_CCo,9947,33.97,0.421,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,33.97,0.000,0.000,0.421,26,1970,1575,-8.17,0.37,300.24
$IRIDIUM_FIX,2108.69,-15750.02,160902,101006
$TT8_MAMPS,0.027612
$HUMID,63.90
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,24.4,45.619
$10V_AH,10.3,49.708
$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,18.900,90.200,318.875,33.975,0.000,30.839,37.847,160.433,17.750,0.000,16.431,1253.896,5944.810,400.305,2239.541,504.681,0.000,1196.413,0.000,2195.097,0.000,111.958,0.000
$DEVICE_MAMPS,221.663,62.127,745.524,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,468.295,402.001,1341.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,38085,690
$CAP_FILE_SIZE,104391,0
$CFSIZE,260165632,229183488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,155351,2110.275,-15759.256,24,1.4,39,9.8