version: 66.06
glider: 523
mission: 4
dive: 541
start: 6 23 113 0 38 51
data:
$ID,523
$MISSION,4
$DIVE,541
$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,-46796.441
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,003223,2110.515,-15755.963,48,1.0,48,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.0
$GPS2,003835,2110.466,-15756.058,28,1.0,28,9.8
$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,101.0,24284,-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,-78.03,0.000,6,0.000,0.000,44,1975,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.62,2.30,0.00,0.000,4,0.225,0.051,2393,537,3397,0,0,0,0,0,0
$GC,167,-0.74,-146.0,21.8,-18.6,24,175,0.00,2.25,0.00,0.000,6,0.000,0.038,2384,1969,3398,0,0,0,0,0,0
$GC,339,-0.74,-146.0,48.0,-15.3,55,345,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,547,3399,0,0,0,0,0,0
$GC,451,-0.74,-146.0,65.1,-14.1,75,457,0.00,2.20,0.00,0.000,6,0.000,0.036,2375,1969,3399,0,0,0,0,0,0
$GC,786,-0.74,-146.0,98.7,-8.9,118,790,0.00,2.30,0.00,0.000,4,0.000,0.054,2375,539,3400,0,0,0,0,0,0
$GC,1036,-0.74,-146.0,124.3,-9.9,140,1044,0.10,2.20,0.00,0.000,6,0.141,0.034,2396,1962,3401,0,0,0,0,0,0
$GC,1363,-0.74,-146.0,154.8,-11.3,171,1369,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,546,3401,0,0,0,0,0,0
$GC,1618,-0.74,-146.0,175.7,-6.2,194,1622,0.00,2.15,0.00,0.000,6,0.000,0.033,2389,1960,3401,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,202.0,-9.7,223,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1961,3402,0,0,0,0,0,0
$GC,2254,-0.74,-146.0,231.8,-8.2,238,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1961,3402,0,0,0,0,0,0
$GC,2561,-0.74,-146.0,249.4,-5.5,253,2565,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,547,3402,0,0,0,0,0,0
$GC,2710,-0.74,-146.0,258.7,-6.6,259,2714,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1963,3402,0,0,0,0,0,0
$GC,3029,-0.74,-146.0,278.0,-6.3,274,3033,0.00,2.30,0.00,0.000,4,0.000,0.053,2379,547,3402,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,281.9,-7.2,276,3092,0.12,2.17,0.00,0.000,6,0.166,0.036,2402,1962,3402,0,0,0,0,0,0
$GC,3425,-0.74,-146.0,306.4,-7.4,291,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1963,3401,0,0,0,0,0,0
$GC,3747,-0.74,-146.0,327.9,-6.4,299,3751,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,544,3400,0,0,0,0,0,0
$GC,3932,-0.74,-146.0,340.3,-5.9,303,3936,0.00,2.17,0.00,0.000,6,0.000,0.036,2394,1958,3398,0,0,0,0,0,0
$GC,4246,-0.74,-146.0,355.8,-5.0,311,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1957,3398,0,0,0,0,0,0
$GC,4571,-0.74,-146.0,374.0,-6.0,319,4574,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,3360,3396,0,0,0,0,0,0
$GC,4593,-0.74,-146.0,375.6,-6.8,319,4597,0.00,2.25,0.00,0.000,6,0.000,0.046,2384,1953,3395,0,0,0,0,0,0
$GC,4935,-0.74,-146.0,399.7,-7.0,328,4940,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,541,3393,0,0,0,0,0,0
$GC,5010,-0.74,-146.0,405.8,-8.3,329,5014,0.00,2.20,0.00,0.000,6,0.000,0.039,2374,1955,3392,0,0,0,0,0,0
$GC,5347,-0.74,-146.0,429.7,-6.8,338,5354,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,548,3391,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5418,-0.17,0.0,434.0,6.8,339,5542,0.68,0.00,121.55,0.748,6,0.125,0.000,2580,1982,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,435.2,0.0,342,5678,0.88,0.00,128.12,0.723,6,0.074,0.000,2879,1982,2204,0,0,0,0,0,0
$GC,5969,0.74,146.0,385.9,12.4,353,5973,0.00,2.33,0.00,0.000,4,0.000,0.059,2878,3387,2197,0,0,0,0,0,0
$GC,6070,0.74,146.0,372.4,14.6,355,6074,0.00,2.25,0.00,0.000,6,0.000,0.046,2888,1981,2195,0,0,0,0,0,0
$GC,6417,0.74,146.0,330.0,11.7,364,6421,0.00,2.28,0.00,0.000,4,0.000,0.054,2888,3397,2193,0,0,0,0,0,0
$GC,6451,0.74,146.0,325.6,13.6,364,6456,0.00,2.22,0.00,0.000,6,0.000,0.042,2897,1973,2193,0,0,0,0,0,0
$GC,6763,0.74,146.0,288.3,12.0,374,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1973,2192,0,0,0,0,0,0
$GC,7072,0.74,146.0,251.8,11.7,389,7076,0.00,2.30,0.00,0.000,4,0.000,0.060,2898,3390,2191,0,0,0,0,0,0
$GC,7329,0.74,146.0,222.9,11.4,400,7334,0.00,2.25,0.00,0.000,6,0.000,0.048,2906,1975,2190,0,0,0,0,0,0
$GC,7649,0.79,187.1,197.6,7.3,416,7688,0.00,2.30,34.03,0.607,4,0.000,0.056,2906,3387,2035,0,0,0,0,0,0
$GC,7931,0.79,187.1,169.6,9.5,441,7939,0.00,2.25,0.00,0.000,6,0.000,0.044,2911,1980,2032,0,0,0,0,0,0
$GC,8258,0.79,187.1,136.3,9.8,472,8262,0.00,2.28,0.00,0.000,4,0.000,0.062,2922,575,2031,0,0,0,0,0,0
$GC,8277,0.79,187.1,134.4,10.1,473,8281,0.00,2.20,0.00,0.000,6,0.000,0.037,2922,1989,2031,0,0,0,0,0,0
$GC,8604,0.79,187.1,102.0,9.6,503,8608,0.00,2.30,0.00,0.000,4,0.000,0.060,2932,576,2031,0,0,0,0,0,0
$GC,8644,0.79,187.1,97.8,10.4,506,8649,0.12,2.20,0.00,0.000,6,0.130,0.040,2896,1983,2031,0,0,0,0,0,0
$GC,8974,0.79,187.1,69.0,9.3,547,8979,0.00,2.28,0.00,0.000,4,0.000,0.057,2901,572,2031,0,0,0,0,0,0
$GC,9086,0.81,206.9,59.1,8.2,567,9110,0.00,2.17,17.62,0.472,6,0.000,0.037,2901,1990,1955,0,0,0,0,0,0
$GC,9440,0.87,257.7,37.2,6.9,631,9487,0.00,0.00,44.12,0.466,6,0.000,0.000,2901,1989,1747,0,0,0,0,0,0
$GC,9808,0.87,257.7,11.3,9.7,699,9815,0.00,2.22,0.00,0.000,4,0.000,0.054,2901,3382,1747,0,0,0,0,0,0
$STATE,9904,end climb,SURFACE_DEPTH_REACHED
$STATE,9905,begin surface coast
$FINISH,0.6,1.012174
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9969,begin surface
$SM_CCo,9990,19.95,0.413,0,0,1574,300.24
$SM_GC,1.72,0.00,0.00,19.95,0.000,0.000,0.413,38,1951,1574,-8.14,-0.17,300.24
$IRIDIUM_FIX,2057.14,-15753.90,160902,212136
$TT8_MAMPS,0.027612
$HUMID,65.83
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,45.976
$10V_AH,10.3,50.115
$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,18.825,80.975,345.450,19.950,0.000,30.251,41.266,148.821,18.000,0.000,29.194,1300.054,5796.995,427.416,2367.289,486.380,0.000,1220.052,0.000,2310.477,0.000,111.074,0.000
$DEVICE_MAMPS,225.498,62.127,747.825,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,494.671,422.093,1450.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41241,729
$CAP_FILE_SIZE,102895,0
$CFSIZE,260165632,228974592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,032658,2110.389,-15755.853,37,1.0,37,9.8