version: 66.06
glider: 523
mission: 4
dive: 543
start: 6 23 113 6 33 31
data:
$ID,523
$MISSION,4
$DIVE,543
$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,-46832.758
$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,26
$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
$GPS1,062643,2110.041,-15754.901,18,0.8,18,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.9
$GPS2,063313,2109.968,-15754.948,19,0.7,19,9.8
$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,100.5,22164,-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,-77.53,0.000,6,0.000,0.000,47,1951,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.1,13,118,9.57,2.25,0.00,0.000,4,0.224,0.048,2383,3375,3397,0,0,0,0,0,0
$GC,137,-0.74,-146.0,16.1,-34.0,18,145,0.00,2.30,0.00,0.000,6,0.000,0.048,2383,1951,3399,0,0,0,0,0,0
$GC,309,-0.74,-146.0,42.6,-15.0,49,314,0.00,2.25,0.00,0.000,4,0.000,0.058,2383,534,3399,0,0,0,0,0,0
$GC,562,-0.74,-146.0,76.3,-11.1,95,568,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1962,3400,0,0,0,0,0,0
$GC,896,-0.74,-146.0,112.5,-11.1,129,900,0.00,2.25,0.00,0.000,4,0.000,0.052,2374,533,3400,0,0,0,0,0,0
$GC,969,-0.74,-146.0,120.2,-10.4,135,974,0.15,2.17,0.00,0.000,6,0.160,0.035,2403,1963,3401,0,0,0,0,0,0
$GC,1302,-0.74,-146.0,145.0,-7.4,166,1306,0.00,2.28,0.00,0.000,4,0.000,0.052,2404,531,3402,0,0,0,0,0,0
$GC,1499,-0.74,-146.0,164.1,-10.9,183,1502,0.00,2.15,0.00,0.000,6,0.000,0.034,2395,1957,3402,0,0,0,0,0,0
$GC,1826,-0.74,-146.0,198.8,-9.3,213,1830,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,3362,3402,0,0,0,0,0,0
$GC,1869,-0.74,-146.0,203.4,-9.6,215,1873,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,1953,3402,0,0,0,0,0,0
$GC,2195,-0.74,-146.0,226.4,-6.3,231,2199,0.00,2.22,0.00,0.000,4,0.000,0.055,2385,547,3403,0,0,0,0,0,0
$GC,2290,-0.74,-146.0,235.0,-9.0,235,2295,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1958,3403,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,266.1,-9.6,251,2618,0.00,2.25,0.00,0.000,4,0.000,0.055,2365,3366,3402,0,0,0,0,0,0
$GC,2798,-0.74,-146.0,279.4,-5.3,259,2803,0.12,2.22,0.00,0.000,6,0.146,0.045,2397,1948,3402,0,0,0,0,0,0
$GC,3119,-0.74,-146.0,295.8,-6.2,274,3123,0.00,2.25,0.00,0.000,4,0.000,0.058,2398,544,3402,0,0,0,0,0,0
$GC,3262,-0.74,-146.0,306.2,-7.3,279,3266,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1956,3402,0,0,0,0,0,0
$GC,3576,-0.74,-146.0,329.3,-6.6,287,3580,0.00,2.28,0.00,0.000,4,0.000,0.056,2390,551,3400,0,0,0,0,0,0
$GC,3713,-0.74,-146.0,339.3,-7.0,290,3717,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1957,3400,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,359.5,-6.4,298,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1957,3398,0,0,0,0,0,0
$GC,4356,-0.74,-146.0,384.1,-7.2,306,4360,0.00,2.30,0.00,0.000,4,0.000,0.058,2380,549,3397,0,0,0,0,0,0
$GC,4494,-0.74,-146.0,393.4,-7.1,309,4498,0.12,2.17,0.00,0.000,6,0.166,0.039,2403,1963,3395,0,0,0,0,0,0
$GC,4814,-0.74,-146.0,409.8,-4.8,317,4819,0.00,2.30,0.00,0.000,4,0.000,0.059,2404,550,3393,0,0,0,0,0,0
$GC,4887,-0.74,-146.0,413.8,-5.5,318,4891,0.00,2.17,0.00,0.000,6,0.000,0.040,2396,1965,3393,0,0,0,0,0,0
$GC,5225,-0.74,-146.0,433.2,-6.1,327,5229,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,3371,3392,0,0,0,0,0,0
$GC,5247,-0.74,-146.0,434.9,-7.0,327,5255,0.00,2.25,0.00,0.000,6,0.000,0.042,2385,1950,3392,0,0,0,0,0,0
$STATE,5427,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5427,begin apogee
$GC,5434,-0.17,0.0,447.3,6.9,332,5560,0.62,0.00,122.28,0.760,6,0.118,0.000,2583,1949,2800,0,0,0,0,0,0
$STATE,5560,end apogee,CONTROL_FINISHED_OK
$STATE,5561,begin climb
$GC,5563,0.74,146.0,448.6,0.0,335,5702,0.82,2.45,127.15,0.735,4,0.077,0.058,2870,3383,2202,0,0,0,0,0,0
$GC,5746,0.74,146.0,431.2,11.3,339,5751,0.00,2.33,0.00,0.000,6,0.000,0.048,2879,1983,2200,0,0,0,0,0,0
$GC,6095,0.74,146.0,394.1,10.6,348,6099,0.00,2.30,0.00,0.000,4,0.000,0.060,2890,562,2196,0,0,0,0,0,0
$GC,6111,0.74,146.0,392.2,10.8,348,6115,0.00,2.22,0.00,0.000,6,0.000,0.039,2890,1989,2196,0,0,0,0,0,0
$GC,6454,0.74,146.0,349.3,13.0,357,6458,0.00,2.22,0.00,0.000,4,0.000,0.054,2890,3390,2194,0,0,0,0,0,0
$GC,6521,0.74,146.0,339.8,14.0,358,6525,0.00,2.25,0.00,0.000,6,0.000,0.042,2899,1967,2193,0,0,0,0,0,0
$GC,6858,0.74,146.0,295.0,13.1,367,6862,0.00,2.30,0.00,0.000,4,0.000,0.059,2899,3390,2192,0,0,0,0,0,0
$GC,6891,0.74,146.0,290.7,12.5,368,6897,0.12,2.25,0.00,0.000,6,0.152,0.050,2874,1983,2191,0,0,0,0,0,0
$GC,7207,0.74,146.0,259.4,9.7,384,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1983,2190,0,0,0,0,0,0
$GC,7515,0.74,146.0,226.3,10.5,399,7520,0.00,2.25,0.00,0.000,4,0.000,0.058,2874,3387,2190,0,0,0,0,0,0
$GC,7560,0.74,146.0,221.4,11.7,401,7564,0.00,2.22,0.00,0.000,6,0.000,0.048,2881,1980,2189,0,0,0,0,0,0
$GC,7886,0.74,146.0,188.2,9.6,422,7890,0.00,2.28,0.00,0.000,4,0.000,0.059,2892,562,2189,0,0,0,0,0,0
$GC,7928,0.74,146.0,184.3,10.1,425,7932,0.00,2.20,0.00,0.000,6,0.000,0.038,2892,1994,2188,0,0,0,0,0,0
$GC,8255,0.75,160.2,154.4,8.4,455,8274,0.00,0.00,10.98,0.537,6,0.000,0.000,2892,1993,2146,0,0,0,0,0,0
$GC,8594,0.76,166.7,126.9,8.8,487,8606,0.00,2.20,7.25,0.479,4,0.000,0.051,2892,3392,2120,0,0,0,0,0,0
$GC,8653,0.76,166.7,121.3,10.3,492,8657,0.00,2.25,0.00,0.000,6,0.000,0.044,2901,1978,2118,0,0,0,0,0,0
$GC,8980,0.76,166.7,89.0,10.1,522,8984,0.00,2.33,0.00,0.000,4,0.000,0.054,2901,3388,2118,0,0,0,0,0,0
$GC,9020,0.76,166.7,84.7,11.8,525,9024,0.00,2.25,0.00,0.000,6,0.000,0.044,2908,1976,2118,0,0,0,0,0,0
$GC,9354,0.76,166.7,48.8,10.0,581,9360,0.00,2.25,0.00,0.000,4,0.000,0.056,2919,569,2118,0,0,0,0,0,0
$GC,9423,0.78,178.4,42.6,8.5,593,9440,0.00,2.17,11.85,0.449,6,0.000,0.037,2919,1984,2071,0,0,0,0,0,0
$GC,9765,0.82,215.5,19.4,7.5,656,9805,0.00,2.25,32.28,0.454,4,0.000,0.051,2919,3383,1921,0,0,0,0,0,0
$GC,9862,0.82,215.5,11.0,9.3,672,9869,0.00,2.25,0.00,0.000,6,0.000,0.041,2928,1982,1919,0,0,0,0,0,0
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9941,begin surface coast
$FINISH,0.8,1.023196
$STATE,9976,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,9994,40.35,0.430,0,0,1575,300.24
$SM_GC,1.53,0.00,0.00,40.35,0.000,0.000,0.430,34,1973,1575,-8.15,0.45,300.24
$IRIDIUM_FIX,2106.38,-15755.17,170902,030334
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.4,46.153
$10V_AH,10.3,50.317
$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,18.925,98.650,311.775,40.350,0.000,23.272,44.337,180.211,18.750,0.000,19.837,1267.761,5951.161,401.948,2261.548,540.607,0.000,1206.063,0.000,2218.009,0.000,119.619,0.000
$DEVICE_MAMPS,223.964,59.826,760.097,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.969,404.713,1356.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38246,693
$CAP_FILE_SIZE,109070,0
$CFSIZE,260165632,228872192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,092204,2109.635,-15753.699,39,0.9,39,9.8